Global Path Planning of Mobile Robot Based on Particle Filter

Abstract

An approach for mobile robot path planning based on particle filter is proposed. Ferguson splines have been used as a path description to ensure the smoothness of the path. Supposing the best path as the true state, and the others as states polluted by noise, the problem of searching for the best path has been transferred to a filter problem. Therefore the particle filter algorithm is used to solve the problem. Simulation results show that the proposed algorithm is easy to imply and have a rapid convergence.