Path planning for service robots in an intelligent space

摘要

A service robot must be capable of deeply understand its environment,so that it may safely navigate in-telligent spaces with high performance.In order for this to be possible,a new environmental model,or danger de-gree map ( DDM),was created to provide enriched environmental information for service robots.As the intelligent space is partly unknown,the layered path planning method was used.A modified particle swarm optimization ( PSO) algorithm based on a known environment was introduced to get a static optimized path.The dynamic layer used a modified A algorithm for avoidance of dynamic obstacles on the basis of the dynamic DDM.The proposed method adds evaluation of the degree of danger in a path to overcome the disadvantages of conventional methods,which follow the shortest path and ignore safety.The new method is simple and meets the real-time requirements of robot navigation.The resulting dynamic path is not only safe enough but also comparatively short.Simulation re-sults demonstrated the feasibility of the method.