ROLLING PATH PLANNING OF MOBILE ROBOT IN A KIND OF DYNAMIC UNCERTAIN ENVIRONMENT

摘要

In this paper, robot path planning in globally unknown environment with moving obstacles is studied. Using the rolling optimization concept adopted in predictive control, a new strategy of path planning based on rolling windows for a mobile robot is proposed. The method makes full use of the real time local environmental information detected by the robot and the path planning is performed on line in a rolling style. Optimization and feedback are combined in a reasonable way. It is well suitable to dynamic uncertain environment. The safety and accessibility of the planning algorithm are also discussed in the paper.