Path planning algorithm for autonomous mobile robot in dynamic environment

摘要

Mobile robots are mostly used in many industrial and military applications. Researches in the path planning is one of the most important aspects in mobile robot researches. Path planning for a mobile robot need to find a collision free path through the robot's environment with obstacles from the specified start location to a desired (target) goal location while satisfying certain optimization conditions. Existing path planning methods like graphical methods such as visibility graph, the potential field and the cell decomposition are designed for static environments, in which there are stationary obstacles. In practical systems such as Marine Science Research, Robots in Industry, and military combat applications, robots usually face dynamic environments where both moving and stationary obstacles exist. This project proposes a heuristic based method to search the feasible initial path efficiently. The heuristic based method is then combined into the simulated annealing algorithm based approach for dynamic robot path planning. Therefore the quality of the solution is characterised by the length of the planned path and it is improved with the combined heuristic method in the simulated annealing based approach for both runtime and offline path planning.