Path Planning Approach in Unknown Environment

• Published in: International journal of automation and computing Vol. 7; no. 3; pp. 310 - 316
• Main Authors: Wang, Ting-Kai, Dang, Quan, Pan, Pei-Yuan
• Format: Journal Article
• Language: Chinese; English
• Published: Heidelberg Institute of Automation, Chinese Academy of Sciences 01.08.2010; Springer Nature B.V; Faculty of Computing,London Metropolitan University,London N7 8DB,UK
• Subjects: Algorithms; CAE) and Design; Cognition & reasoning; Computer & video games; Computer Applications; Computer simulation; Computer-Aided Engineering (CAD; Control; Engineering; Fuzzy; Fuzzy logic; Grid method; Learning; Machine learning; Mechatronics; Moving obstacles; Obstacles; Path planning; Robotics; Robots; Topology; Unknown environments; 传感器系统; 机器人路径规划; 机器学习; 模糊逻辑推理; 环境; 移动机器人; 移动路径; 路径规划算法; learning algorithm; mobile robot; Path planning; fuzzy reasoning; unknown environment
• ISSN: 1476-8186; 2153-182X; 1751-8520; 2153-1838
• DOI: 10.1007/s11633-010-0508-6

This paper presents a new algorithm of path planning for mobile robots, which utilises the characteristics of the obstacle border and fuzzy logical reasoning. The environment topology or working space is described by the time-variable grid method that can be further described by the moving obstacles and the variation of path safety. Based on the algorithm, a new path planning approach for mobile robots in an unknown environment has been developed. The path planning approach can let a mobile robot find a safe path from the current position to the goal based on a sensor system. The two types of machine learning： advancing learning and exploitation learning or trial learning are explored, and both are applied to the learning of mobile robot path planning algorithm. Comparison with A＊ path planning approach and various simulation results are given to demonstrate the efficiency of the algorithm. This path planning approach can also be applied to computer games.