Dynamical path-planning algorithm of a mobile robot: Local minima problem and nonstationary environments
作者： Changkyu Choi , Ju-Jang Lee
DOI: 10.1016/0957-4158(95)00054-2
关键词:
摘要: A dynamical local path-planning algorithm of an autonomous mobile robot available for moving obstacle avoidance as well stationary using artificial pressure and nonlinear friction is described. The considered to adequately accommodate the a dynamic situation nature. Artificial just conceptual idea mimicry real physical pressure. It can be thought density gradient in neighborhood robot. Together with previous virtual force field (VFF) method, path solution equation. Local minima problems environments are solved by introducing into chaotic neuron. Due friction, proposed path-planner reveals dynamics some parameter regions. This new feasible guiding, on real-time, avoid obstacles reach goal. Computer simulations presented show effectiveness algorithm.
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