Path Planning For A Mobile Robot With Grid Type World Model

Abstract

This paper describes a methodol- ogy of world modelling and path planning for a mobile robot. The world model, called a cer- tainty grid for obstacle representation,is ob- tained from readings of ultrasonic sensors and more accurate world model is built by using the information of neighboring sonar sensors. A linear programming method for the short- est paths from many origins to a destination is proposed. The global path is generated with off-line calculation but the local paths are ob- tained on-line by table look-up method. It is implemented on a physical mobile robot. The results show that the certainty grid which is updated by our proposed method well repre- sents a precise environment including the loca- tion of obstacles. The robot was enable to nav- igate to a destination avoiding obstacles with the path which is calculated by the proposed linear programming method.