Real time motion planning for control of autonomous mobile robot

摘要

We propose a method based on a real-time search for the optimal action of an autonomous mobile robot using an evolution strategy. By searching the optimal action for the facing situation in real time the robots need not suffer from the problem of categorization of the situations and problem of pre-definition of rules. The basic idea of the proposed real time search technique is to harmonize computational amount with a property of solution. In order to realize this requirement we adopt a two-stage evaluation technique. The proposed method also adopts the prediction and action watch dog systems. These function enable the robots to realize the real time search. The paper explains the proposed method and shows the feasibility through the experimental results using the real robot.