Robot real-time motion planning and collision avoidance in dynamically changing environments

Abstract

Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. The paper provides a literature review of previous works on robot motion planning and collision avoidance. A study on a novel force field method for robot motion planning has been given. Firstly, force field method is present, then, subgoal-guided force field method is proposed, finally, simulations on robot motion planning are carried out in the Player/Stage platform. The Subgoal-Guided Force Field method is suitable for real-time motion planning and collision avoidance in partially known and dynamically changing environments. Simulation results verify the feasibility and performance of the proposed methods. © 2011 Springer-Verlag.