Behavioral dynamics of mobile robot and rolling windows algorithm to path planning

摘要

Aiming at the path planning in unknown static environment,a new mobile robot path planning approach is presented which combines of rolling windows and behavioral dynamics.Firstly,subgoal choosing is optimized by using heuristic function ac-cording to the window's information,it is local environment's information,which is obtained by camera.Then navigation behavior is divided into GO TO TARGET behavior and OBSTACLE AVOIDANCE behavior,their behaviorial states and behaviorial modes dynamics models are established,and then one autonomous local path planning online is implemented using navigation behavior dynamics model in a single window.Connecting a series of local paths according to continuity,the robot accomplishes one global planning ultimately.The approach has a simple principle and low calculating burden,smooth path and high applied value.The ap-proach's efficiency and adaptability is demonstrated by example simulating.