Artificial moment method using attractive points for the local path planning of a single robot in complicated dynamic environments

摘要

SUMMARY A novel path planner is presented for the local path planning of a single robot (represented with R ) in a complicated dynamic environment. Here a series of attractive points are computed based on attractive segments for guiding R to move along a shorter path. Each attractive segment is obtained by using the full environmental knowledge and will be used for several sampling times in general. A motion controller, which is designed based on artificial moments and a robot model that has a principal motion direction line(PMDline), makes R move closely to attractive points while away from obstacles. Attractive and repulsive moments are designed, which only make R 's PMDline face toward attractive points and opposite to obstacles in general, as in most cases, R will move along its PMDline with its full speed. Because of the guidance of attractive points and R 's full-speed motion, the global convergence is guaranteed. Simulations indicate that the proposed path planner meets the requirements of real-time property while can optimize R 's traveling path.