Motion planning implemented in ROS for mobile robot

摘要

In a dynamic environment, the automatic mobile robot requires a real-time independent path planning for safe navigation. To solve this problem, this paper represents a hybrid path planning approach combining the safe global path planning and a new improved adaptive window approach. The improved adaptive window approach base on the concept of safe path which improves the accuracy of obstacle avoidance significantly. Based on the robot operating system, all works in this paper are validated both in the virtual environment and the real world. The experiments show that the hybrid path planning can safely control the mobile robot in a dynamic environment.