A new path planning algorithm for robot in dynamic uncertainty environment

作者：Wu, Xin An^*; Sun, Yao; Mo, Hong Wei

来源：Journal of Harbin Institute of Technology, 2010, 42(11): 1805-1809.

• Dynamic obstacles
• Dynamic uncertainty
• Environment information
• Path-planning algorithm
• Real time
• Real time path planning

This paper presents a new real-time path planning algorithm for robot in dynamic uncertainty environment, which has good applicability. The first part of the algorithm is the analysis and interpretation of the environment information by searching the characteristic information (Double-Safe-Edges, DSE), so it can catch dynamic obstacle, estimate the state of the dynamic obstacle and update the characteristic information to the second part of the algorithm at the same time. The second part is the choice of double-safe local goal to generate the motion command by using heuristic algorithm. The result of simulation proves that the DSE algorithm is real-time and has good applicability in dynamic uncertainty environment.

• 出版日期2010
• 单位哈尔滨工程大学