Motion planning implemented in ROS for mobile robot

In a dynamic environment, the automatic mobile robot requires a real-time independent path planning for safe navigation. To solve this problem, this paper represents a hybrid path planning approach combining the safe global path planning and a new improved adaptive window approach. The improved adap...

Full description

Saved in:
Bibliographic Details
Main Authors: Yingbing Chen, Xiang Wang, Shaohui Hong, Xunyu Zhong, Chaosheng Zou
Format: Conference Proceeding
Language:English
Subjects:
Dynamic Environment
Hazards
Hybrid Path Planning
Mobile Robot
Mobile robots
Path planning
Robot kinematics
Robot Operating System
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In a dynamic environment, the automatic mobile robot requires a real-time independent path planning for safe navigation. To solve this problem, this paper represents a hybrid path planning approach combining the safe global path planning and a new improved adaptive window approach. The improved adaptive window approach base on the concept of safe path which improves the accuracy of obstacle avoidance significantly. Based on the robot operating system, all works in this paper are validated both in the virtual environment and the real world. The experiments show that the hybrid path planning can safely control the mobile robot in a dynamic environment.
ISSN:1948-9447
DOI:10.1109/CCDC.2017.7978473