Real-time obstacle-avoidance motion planning for autonomous mobile robots

Abstract

This article focuses on generation of a smooth obstacle avoidance trajectory for wheeled mobile robots in real-time. The algorithm is based on visibility graph and Bézier curves with properties ideally suited for this purpose. To increase the efficiency of this algorithm, we introduced a simple but effective method for constructing visibility graphs by ignoring unnecessary nodes. Our developed algorithm generates smooth and distance-optimal motion trajectories. The algorithm is computationally efficient and easy to implement making it suitable for real-time as well as off-line path planning applications. Simulation results demonstrate the feasibility of the proposed method.