Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot | Zendy

Kentaro Ueno | Zendy; Tetsuo Kinoshita | Zendy; Kazuyuki Kobayashi | Zendy; Kajiro Watanabe | Zendy

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Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot

Author(s) -

Kentaro Ueno,

Tetsuo Kinoshita,

Kazuyuki Kobayashi,

Kajiro Watanabe

Publication year - 2015

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2015.p0286

Subject(s) - motion planning , mobile robot , path (computing) , obstacle , computer science , any angle path planning , obstacle avoidance , robot , real time computing , algorithm , artificial intelligence , computer vision , mathematical optimization , mathematics , computer network , geography , archaeology

Proposed path-planning resultIn this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.

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