On‐line path planning strategy integrated with collision and dead‐lock avoidance schemes for wheeled mobile robot in indoor environments

摘要

Purpose This paper aims to present a hybrid path planning algorithm which is designed for use of autonomous vehicles in indoor environments. The approach mainly contributes the ability of generating a safe and smooth collision avoidance path for attaining a desired position in an unknown and obstructed environment. Design/methodology/approach The hybrid planner is based on potential field method and Voronoi diagram approach, and it is represented with the ability of concurrent map building and autonomous navigation. Findings The possibility of controlling the look‐ahead distance allows the mobile robot to smartly control the velocity for creating a smooth trajectory autonomously. The dead‐lock problem is solved by defining necessary sub‐goals between targets on the constructed map. Originality/value The system controller (look‐ahead control) with the potential field method allows the robot to generate a smooth and safe path for an expected position. Only essential exploration of unknown environment is performed since the approach constrains the mobile robot to explore a safe and sub‐optimal route towards a destination.