Online path planning of mobile robots based on improved Voronoi diagram

摘要

Pertaining to partially-sensored environment information,an on-line path planning is proposed for mobile robots using the Voronoi diagram and dynamic D* algorithm.Accordingly,the road map is configured based on the acquired environment information.In this manner,a globally-optimal non-collision path is obtained between the origin and terminal.Afterwards,the rod map,together with the path,is reconfigured in terms of the real-time environment information updated.Eventually,this approach is proven feasible by the means of a robot car testing platform.