ROLLING PATH PLANNING OF MOBILE ROBOT IN DYNAMIC UNKNOWN ENVIRONMENT

摘要

Using the rolling optimization concept adopted in predictive control, robot path planning in global unknown environment with moving obstacles is studied. 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 environment.