Real-time Path Planning Based on Certainty Grids Map in Complex Environments

摘要

This paper proposed the line-generating obstacle detecting method (LGODM) for path planning of mobile robot in complex environments with the support of certainty grids map which can be upbuilt by SLAM (simultaneous localization and mapping). The LGODM can be applied to obstacles with any shape of it's outline. By this means, the local optimum problem is well resolved, also the mission of global path planning is decomposed into a series of phasic sub mission in real-time way during the running of mobile robot. In our research, uni-vector field tracking controller is applied to robot. The effectiveness and elegance of the LGODM is demonstrated by simulation studies. A number of test cases are presented, each shows a stable, smooth, reasonable and no oscillating path to the destination of mobile robot.