Abstract
Aiming at the problems of unsmooth and low efficiency in path planning of the indoor mobile robot, a path planning obstacle avoidance system is proposed. First, the global path is generated in the environment grid map by A* algorithm. Second, as the pose constraint, the Reeds-Shepp path set can generate the executable control instructions by extracting the key points of the path. Third, the static/dynamic obstacle is recognized by a binocular camera and avoided by a decision-making method. The experimental result shows that the generated path can meet the actual motion constraints of the mobile robot, the relative error of the obstacle depth distance is 0.03%, which meets the requirements of the robot path planning.
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