An indoor path planning and motion planning method based on POMDP

With the continuous development of robot technology, robots' tasks and environment is becomes more and more complex. And the Mobile Service Robot's need stronger motion planning ability to deal with the uncertainty and dynamic. In this paper, path planning and motion planning of mobile robot in the indoor environment with uncertain pedestrian flows are studied. A dedicated planner including velocity planning layer and direction planning layer based on the pedestrian tracking and observation is designed, then the effective solving method for the planner is studied based on POMDP to calculate the robot linear moving speed and steering angle. What's more, we improve the quality of the output path algorithm, based on the artificial potential field and the A* algorithm. Therefore, the robots can learn from previous experience of path planning by itself to avoid the path which has relatively poor performance, and optimize the motion planning on this basis. Eventually, the robot's adaptability and security in indoor dynamic environment is improved.