An intelligent algorithm for the path planning of autonomous mobile robot for dynamic environment

Abstract

Collision avoidance is an important aspect of path planning for mobile robotic systems, and has remained an issue of intensive research for researchers all over the world. Among the several techniques adopted for the same purpose, potential field force (PFF) is the most widely accepted and reliable strategy. However, the technique is impregnated with the drawback concerning "Local Minima". The aim of this paper is to present an algorithm that obviously survives the limitations posed by PFF which has been taken care efficiently with the help of reinforcement of a virtual attractive force that makes the resultant force parallel to the boundary of the obstacle. The algorithm also includes the speed control mechanism of the robot. Computational complexity of the given algorithm is also provided. Simulations results are presented that prove the effectiveness of the proposed method. The algorithm has been tested on an indoor mobile robotic platform. © 2010 Springer-Verlag.