Mobile Robot Path Planning Based on Rolling Windows

摘要

Using the rolling optimization concept adopted in predictive control, robot path planning in globally unknown environment with dynamic obstacles is studied. The new robot path planning method based on rolling windows makes full use of the real time environmental information obtained locally by the robot and the path planning is performed on line in a rolling style through effective scenario predictioni. The mechanisms of optimization and feedback are combined in a reasonable way. The planning has low calculation burded and quick response to the changes of the environment. Simulations show that the planning method is well suitable to the dynamic uncertain environment.\;