Robot Rolling Path Planning Based on Locally Detected Information

摘要

Using the path planning method based on rolling windows, robot path planning in a globally unknown environment is studied. The method makes full use of real-time environmental information locally detected by the robot and the on-line planning is performed in a rolling style. Mechanisms of optimization and feedback are combined in a feasible way. The subgoal determination strategy of rolling path planning is analyzed according to various convex obstacle environment. And the accessibility of the planning algorithm is also discussed.