Release Time:2019-03-11  Hits:

Indexed by: Journal Article

Date of Publication: 2012-02-01

Journal: International Journal of Advancements in Computing Technology

Included Journals: Scopus、EI

Volume: 4

Issue: 3

Page Number: 118-124

ISSN: 20058039

Abstract: 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.