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

2020 International Conference on Communication and Signal Processing (ICCSP) Pub Date : 2020-07-01 DOI:10.1109/ICCSP48568.2020.9182347

S. Das, Kousik Roy, Tanmay Pandey, Aniket Kumar, A. Dutta, S. Debnath

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引用次数: 4

Abstract

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.

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移动机器人路径规划与避障的修正临界点算法

路径规划是自主移动机器人的基本问题之一。移动机器人应该能够在不熟悉的情况下工作，使用由局部感知信息确定的自动计划。在实时环境下，速度计算和路径重调度是机器人绕过移动障碍物，实现无碰撞路径的关键。机器人动态运动规划要求在实时控制下选择动作。为了避免运行时障碍，本文提出了一种基于Bug算法的新方法。提出的修正临界点Bug(ModifiedCriticalPointBug, MCPB)算法是一种新的移动机器人路径规划Bug算法。该算法每隔一定的时间间隔由机器人执行一次，这样当新的障碍物进入路径或旧的障碍物移动到新的路径时，机器人可以纠正其路径。结果表明，机器人不仅避免了碰撞，而且通过对其路径进行一系列的运行时修改，使其接近最优路径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2020 International Conference on Communication and Signal Processing (ICCSP)

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