论文信息 - Smooth path planning and control for mobile robots

Smooth path planning and control for mobile robots

In this article a new complete sensor based path planning algorithm for autonomous mobile robot is presented. The algorithm guarantees global convergence to the target while at the same time the generated path is smooth, a key requirement for implementation on real robots. The completeness of the proposed scheme is proved using techniques from hybrid control.

Shangming Wei | M. Zefran

[1] Vladimir J. Lumelsky,et al. Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shape , 1987, Algorithmica.

[2] Nils J. Nilsson,et al. Problem-solving methods in artificial intelligence , 1971, McGraw-Hill computer science series.

[3] Xiaoming Hu,et al. A hybrid control approach to action coordination for mobile robots , 1999, Autom..

[4] Ronald C. Arkin,et al. An Behavior-based Robotics , 1998 .

[5] John Canny,et al. The complexity of robot motion planning , 1988 .

[6] R. Brooks. Solving the Find-Path Problem by Representing Free Space as Generalized Cones , 1982 .

[7] Robin R. Murphy,et al. Artificial intelligence and mobile robots: case studies of successful robot systems , 1998 .

[8] G. Swaminathan. Robot Motion Planning , 2006 .

[9] Chee Yap,et al. Algorithmic motion planning , 1987 .

[10] Vladimir J. Lumelsky,et al. Incorporating range sensing in the robot navigation function , 1990, IEEE Trans. Syst. Man Cybern..

[11] Joel W. Burdick,et al. Stabilization of systems with changing dynamics by means of switching , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[12] Tomás Lozano-Pérez,et al. An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.