Robot Path Planning Using Wave Expansion Approach Virtual Target

摘要

This paper presents a new method for mobile robots motion planning in dynamic environments based on wave expansion approach is the main issue of this work, which avoids full wave expansion in sudden obstacle case. Full Wave expansion in great scale environments takes considerable amount of time and the process. In this work a new wave expansion algorithm for path finding, local minima, and sudden obstacles have been met and proposed, as so-called Virtual Target algorithm that prevents from re-expansion of full wave. Furthermore, the simulation results reflects that how the work has improved the already-existing methods. By the use of Virtual Target algorithm it's been tried to prevent the re-expansion of the wave.