Mobile Robot Path Planning Based on Local Environment Modeling and Adaptive Window

Abstract

In order to solve the problem of path planning for mobile robot in unknown environment, improving overall performance of the planned path, a multi-constrained local environment modeling method is used in which the traversability, security, movement smoothness and goal-guiding are taken into consideration. On the basis of environment modeling, improved local path planning algorithms is proposed by combining Bug algorithm and rolling path planning algorithm. That improved algorithm contains Move to Goal behavior and Wall Following behavior, for overcoming local minimum, designed for robot using adaptive dynamic window. Simulation results show that the proposed methods have a good safety obstacle avoidance capabilities and environmental adaptability.