An Improved Method of Sensor-Based Path Planning Using Instant Goals

In this paper, an effective improved path planning algorithm using Instant Goals is proposed. In the original Instant Goal theory, the determination process of Instant Goals is complicated and time-costly, so an alternative idea based on the searching beams from the online senor is proposed. After that the other significant problem is proposed: the original algorithm is well designed to detect and recognize the obstacles around in given positions, but it did not have it in consideration that how to make sure the robot gets the knowledge that the obstructing points detected belong to the new obstacle or the original obstacle it just avoided. To solve the problem just mentioned, some practical techniques are adopted and expounded explicitly to give robot a criterion to judge it. At last, some realistic simulation results are given to validate the effectiveness of the new improved path planning method.