A Complete Coverage Path Planning Method for Mobile Robot in Uncertain Environments

摘要

In this paper, a novel complete coverage path planning method based on the biologically inspired neural networks, rolling path planning and heuristic searching approach is presented for mobile robot motion planning with obstacles avoidance. The biologically inspired neural network is used to model the environment and calculate the environment information, while the rolling planning technique and the heuristic searching algorithm are utilized for the path planning,. Simulation studies show that the proposed method is very effective for the dynamic uncertain environments.