Motion Planning for Mobile Robots

Abstract

This chapter introduces two kinds of motion path planning algorithms for mobile robots or unmanned ground vehicles (UGV). First, we present an approach of trajectory planning for UGV or mobile robot under the existence of moving obstacles by using improved artificial potential field method. Then, we propose an I-RRT* algorithm for motion plan- ning, which combines the environment with obstacle constraints, vehicle constraints, and kinematic constraints. All the simulation results and the experiments show that two kinds of algorithm are effective for practical use.