Paper Info
Title
A novel local path planning method considering both robot posture and path smoothness
Abstract
Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly, a localization method which the path planning method relies on is explained. Secondly, a path planning model considering the path smoothness and the robot posture is discussed in detail. Thirdly, a solution based on particle swarm optimization (PSO) algorithm is discussed. Fourthly, simulation results are shown and analyzed. At last, conclusion and future work are provided.
Year
DOI
Venue
2013
10.1109/ROBIO.2013.6739454
ROBIO
Keywords
Field
DocType
mobile robot navigation technology,robot attitude,pso,particle swarm optimisation,mobile robots,robot posture,local path planning method,path planning,particle swarm optimization algorithm,attitude control,path smoothness
Motion planning,Particle swarm optimization,Mathematical optimization,Any-angle path planning,Path length,Control theory,Mobile robot navigation,Smoothness,Robot,Mathematics,Mobile robot
Conference
Citations 
PageRank 
References 
2
0.43
5
Authors
8
Name
Order
Citations
PageRank
Xiang Gao110119.26
Yongsheng Ou224342.32
Yiqun Fu3141.43
Zhao Li420.43
Dawei Dai564.82
Liangliang Cui630.79
Yimin Zhou78715.04
Weidong Guo86810.09