Rapid path planning of mobile robots in unknown environment

摘要

To improve the rapid path planning ability of mobile robot in unknown environment,this paper proposed a rapid path planning approach.Where the conception of free road was introduced to describe the gaps between obstacles that the robot could get through in.And also introduced a danger estimate function to estimate the danger of collision in turning to the best free road.By finding the best free road and estimate the danger,employed a data reduction technique to compress all the information needed in path planning. With the help of this data reduction technique,improved the efficiency of the fuzzy logic controller significantly which was also employed to calculate the speed of robot.The results of both experiments and simulations prove that this method is more robust and get better effect than the classical ones.