Modified Critical Point – A Bug Algorithm for Path Planning and Obstacle Avoiding of Mobile Robot

摘要

Path planning is one of the basic problems of Autonomous Mobile Robot. The mobile robot supposed to be able to work in an unfamiliar situation using an automatic plan determined by locally sensed information. In the case of real-time environments speed calculation and rescheduling of path is essential to bypass the moving obstacle and make collision free path of robot. Robot movement planning in dynamic condition requires the actions to be selected under real-time control. To avoid run-time obstacles a new approach is presented in this paper based on Bug Algorithm. This proposed ModifiedCriticalPointBug(MCPB) algorithm, is a new Bug algorithm for path planning of mobile robots. This algorithm is carried out by the robot after regular interval, thus permitting the robot to correct its path if a new obstacle comes into the path or the old one move in a new route. As a result, the robot not only bypasses collision but also makes almost optimal path by making a sequence of run time modification in its path.