Mobile Robot Online Path Planning in Complex Environment

Aimed at the complexity and uncertainty of mobile robot work environment,an online path planning method of mobile robot in complex environment was proposed. Using the concept of learning real-time heuristic search algorithm and the muti-step search algorithm,executing phase and planning phase were carried out alternately and the optimization was limited in the sensors detection range. The path could match the constraints of the complex environment and online application. Simulation results show that the method could gain the mobile robot online path quickly in complex environment,which prove the correctness and validity of the method.