A novel local path planning method considering both robot posture and path smoothness

Author

Xiang Gao ; Yongsheng Ou ; Yiqun Fu ; Zhao Li ; Dawei Dai ; Liangliang Cui ; Yimin Zhou ; Weidong Guo

Author_Institution

Guangdong Provincial Key Lab. of Robot. & Intell. Syst., Shenzhen Inst. of Adv. Technol., Shenzhen, China

fYear

2013

fDate

12-14 Dec. 2013

Firstpage

172

Lastpage

178

Abstract

Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.

Keywords

attitude control; mobile robots; particle swarm optimisation; path planning; PSO; local path planning method; mobile robot navigation technology; particle swarm optimization algorithm; path planning; path smoothness; robot attitude; robot posture; Cameras; Path planning; Planning; Robot kinematics; Robot vision systems; Sonar;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on

Conference_Location

Shenzhen

Type

conf

DOI

10.1109/ROBIO.2013.6739454

Filename

6739454