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JIA Yan hua, MEI Feng xiang. Simple Path Planning for Mobile Robots in the Present of Obstacles[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2002, 11(2): 208-211.
Citation: JIA Yan hua, MEI Feng xiang. Simple Path Planning for Mobile Robots in the Present of Obstacles[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2002, 11(2): 208-211.
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Simple Path Planning for Mobile Robots in the Present of Obstacles

  • Department of Applied Mechanics, Beijing Institute of Technology, Beijing100081, China

Funds:SponsoredbyNationalNaturalScienceFoundation(19972010);FundforResearchonDoctoralProgramsinInstitutionsofHigherLearning
  • Received Date:2001-09-18
    Abstract
  • To obtain the near optimal path for the mobile robots in the present of the obstacles, where the robots are subject to both the nonholonomic constraints and the bound to the curvature of the path, a simple planning is applied by the heuristic searching method in which Reeds and Shepp's shortest paths are chosen as heuristic functions. It has performed well in simulation of mobile robots moving in a cluttered environment.
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    • References (6)
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    Laumond J P,J acobs P E,Taix M,et al.A motionplanner for nonholonomic mobile robots[J]. IEEE TransRobot Automat,1994,10:133-156.
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    Svest ka P,Overmars M H.Motion planning for car-likerobots using a probabilistic learning approach[J]. InternJournal of Rob Research,1995,16:119-143.
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