|Table of Contents|

Research on Global Path Planning of Mobile Robotin Dynamic Obstacle Environment(PDF)

《南京师大学报（自然科学版）》[ISSN:1001-4616/CN:32-1239/N]

Issue:
2017年03期
Page:
52-
Research Field:
·计算机科学·
Publishing date:

Info

Title:
Research on Global Path Planning of Mobile Robotin Dynamic Obstacle Environment
Author(s):
Li Erchao1; Wang Huiying1; Yang Xiuping2; Liang Bo1
(1.College of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China)(2.College of Economy and Management,Lanzhou University of Technology,Lanzhou 730050,China)
Keywords:
mobile robot; path planning; dynamic obstacles; NSGA-Ⅱ algorithm
PACS:
TP273
DOI:
10.3969/j.issn.1001-4616.2017.03.008
Abstract:
For the dynamic obstacles in the environment,how to use the global path planning algorithm to solve the optimal path of mobile robot,assuming that the motion range of the dynamic obstacle is known,so the hazard level is an interval number. Define a Pareto probability dominance formula,find out the dominant probability between different interval numbers,which can be used to determine which path is more secure. The traditional NSGA-Ⅱ algorithm is improved,and all solutions are classified into feasible and infeasible solutions according to the constraint function,the non feasible solution set is introduced to store the non feasible solution,guide feasible solutions to evolve better solutions. The environment model is established and simulated with MATLAB software. The simulation results show that for different obstacle environment,this method can be used to plan a safe path,compared with the traditional algorithm,the improved algorithm in solving the dynamic obstacle environment for robot path planning problem is more feasible and effective.

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Last Update: 2017-09-30