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论文类型：期刊论文

发表时间：2012-02-01

发表刊物：International Journal of Advancements in Computing Technology

收录刊物：EI、Scopus

卷号：4

期号：3

页面范围：118-124

ISSN号：20058039

摘要：A path-planning method based on a combination of the static global and the dynamic local pathplanning methods is proposed for robot path planning under a complex environment. There are known static obstacles and unknown dynamic obstacles in any complex environment. The local-path planner dynamically generates a local path using obstacle-motion prediction and a rolling window for dynamic path planning to partially adjust the global path. Simulation results show that the mobile robot achieves both overall and local obstacle-avoidance during motion, in association with an optimum path, which verifies the feasibility and effectiveness of the method.