Dynamic Path Planning for Mobile Robots Using Chaotic Prediction

被引：0
|
作者：
Jia, Qian [1 ]
Wang, Xingsong [1 ]
机构：
[1] Southeast Univ, Sch Mech Engn, Nanjing, Jiangsu Prov, Peoples R China
来源：
2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2008年
关键词：
path planning; chaotic control; mobile robot; prediction;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents an efficient algorithm for real-time mobile robots path planning in dynamic environment. It focuses on the dynamic workspace in which the target and obstacles are moving while the boundary is stationary. The proposed algorithm improves distance-propagating system and introduces chaotic control and prediction. So it can predict the motion of target effectively and enhance the accuracy of path planning. Besides, a particular case that the target moves faster than the robot is discussed in this paper. Simulation showed that for curved trajectory, it is also possible for the robot to catch the target by using the proposed algorithm.
引用
收藏
页码：263 / 268
页数：6
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