A Method for Trajectory Planning of Mobile Robot in Random Obstacles Environment

摘要

This paper presents an improved method for trajectory planning of mobile robot in random obstacle environments. A combination of first local then global path planning is used in the real-time planning system modeling. The global path planning method adopting target direction angle tracking strategy is formulated. The local trajectory planning method is implemented by a quantum-behaved particle swarm optimization algorithm which was developed in our previous work. The software is coded in Matlab frame. The results from simulations demonstrate the effectiveness and feasibility of current method for trajectory planning of mobile robot in random obstacles environments.