Path Planning Approach in Unknown Environment
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...
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Published in | International journal of automation and computing Vol. 7; no. 3; pp. 310 - 316 |
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Main Authors | , , |
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 | |
Online Access | Get full text |
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Summary: | 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. |
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Bibliography: | Path planning, fuzzy reasoning, unknown environment, mobile robot, learning algorithm. TP24 11-5350/TP X24 ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 |
ISSN: | 1476-8186 2153-182X 1751-8520 2153-1838 |
DOI: | 10.1007/s11633-010-0508-6 |