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	Mobile Robot Path Planning Based on Local Environment Modeling and Adaptive Window
	Zhong Xunyu ; Peng Xiafu ; Zhou Jiehua ; Huang Xiaoci ; Zhong XY(仲训昱) ; Peng XF(彭侠夫)
	2011
英文摘要	Conference Name:3rd International Conference on Measuring Technology and Mechatronics Automation (ICMTMA 2011). Conference Address: Shanghai, PEOPLES R CHINA. Time:JAN 06-07, 2011.; In order to solve the problem of path planning for mobile robot in unknown environment, improving overall performance of the planned path, a multi-constrained local environment modeling method is used in which the traversability, security, movement smoothness and goal-guiding are taken into consideration. On the basis of environment modeling, improved local path planning algorithms is proposed by combining Bug algorithm and rolling path planning algorithm. That improved algorithm contains Move to Goal behavior and Wall Following behavior, for overcoming local minimum, designed for robot using adaptive dynamic window. Simulation results show that the proposed methods have a good safety obstacle avoidance capabilities and environmental adaptability.
语种	英语
出处	http://dx.doi.org/10.4028/www.scientific.net/AMM.48-49.679
出版者	APPL MECH MATER
内容类型	其他
源URL	[http://dspace.xmu.edu.cn/handle/2288/86467]
专题	信息技术－会议论文
推荐引用方式 GB/T 7714	Zhong Xunyu,Peng Xiafu,Zhou Jiehua,et al. Mobile Robot Path Planning Based on Local Environment Modeling and Adaptive Window. 2011-01-01.

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