Local path planning for mobile robots based on intermediate objectives. Issue 4 (May 2015)

• Record Type: Journal Article
• Authors: Ma, Yingchong; Zheng, Gang; Perruquetti, Wilfrid; Qiu, Zhaopeng
• Is Part Of: Robotica. Volume 33:Issue 4(2015)
• Page Start: 1017
• Page End: 1031
• Publication Date: 2015-05
• Subjects: Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574714000186
• Languages: English
• ISSNs: 0263-5747

Abstract

<abstract abstract-type="normal"> <title>SUMMARY</title> <p>This paper presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, robot kinematic model and non-holonomic constraint are considered in the problem. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints. Local minima are avoided by choosing intermediate objectives based on the real-time environment.</p> </abstract>