Multi-behavior fusion-based path planning for mobile robot

被引：0

作者：

Ma, Jia-Chen ^{[1
,2
]}

Zhang, Qi ^{[1
]}

Ma, Li-Yong ^{[2
]}

Xie, Wei ^{[2
]}

机构：

[1] School of Astronautics, Harbin Institute of Technology, Harbin, Heilongjiang 150006, China

[2] Department of Information Science and Engineering, Harbin Institute of Technology at Weihai, Weihai, Shandong 264209, China

来源：

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2014年 / 34卷 / 06期

关键词：

Mobile robots - Robot programming;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

To solve the local minimum problem in existing path planning for mobile robot, a multi-behavior fusion approach for path planning was proposed. The proposed approach contains three kind basic behaviors which were designed for selecting the proper one to complete the mission of path planning. The behavior of escaping the local minimum can assess whether the robot is in the local minimum with the trial principle and employ the angle-compensation method to escape the obstacle with the local minimum. The results of simulation and experiment demonstrate the adaptability of proposed approach, being more reliable and extensive than some existing methods.

引用

页码：576 / 581