Solving Optimal Path Planning Problem of an Intelligent Mobile Robot in Dynamic Environment Using Bidirectional Rapidly-exploring Random Tree Star-Dynamic Window Approach (BRRT*-DWA) with Adaptive Monte Carlo Localization (AMCL)

摘要

To solve the problem of path planning in unknown dynamic environment, this paper proposes BRRT*-DWA algorithm with Adaptive Monte Carlo Localization. Bidirectional Rapidly-exploring Random Tree Star(BRRT*) is used to generate an optimal global path plan, Dynamic Window Approach(DWA) is a local planner and Adaptive Monte Carlo Localization(AMCL) is used as a localization technique.