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论文类型：期刊论文

发表时间：2012-06-01

发表刊物：INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL

收录刊物：SCIE、EI、Scopus

卷号：8

期号：6

页面范围：4095-4109

ISSN号：1349-4198

关键字：Local steering control; Improved distance propagating; Hybrid path planning; Mobile robot

摘要：Real-time path planning serves as an essential task for mobile robots to work within a partially known and cluttered environment. According to the real-time laser scanning data, a hybrid path planner is proposed in this paper to integrate quick obstacle avoidance and global optimization effectively. For local cluttered and dynamic scenes, mobile robot can reliably avoid the unknown obstacles based on local steering angle and velocity control law. For large-scale indoor scene with prior structured information, grid point sequence can be used to represent the global workspace, and therefore a global path planner based on improved distance propagating method can generate a series of sub-goal-points to the target, which guides mobile robot's local path planning in a more optimal way. Experiment results in the cluttered indoor environments show the method's effectiveness and practicability.