A Hybrid Path Planning Method Of Mobile Robot In Dynamic Environment

Path planning is one of the most important issues in robotics field; it raises the interests of scholar in domestic and aboard. Path planning is a prerequisite for robot tasking. In short, Path planning for mobile robot is an optimization problem in which plan an optimal path form start to ending for mobile robot. Therefore, path planning for mobile robot is a problem to be solving in robotics field with complex and uncertain surroundings.Traditional path planning methods neither based global nor based local exist kinds of defects:path planning based on global information builds a map and then adopts optimal methods off-line, however, robots cannot plan a optimal path with one-time planning for lacking information of dynamic barrier in dynamic surroundings; While path planning based on local information can explore dynamic barrier information on-line, however, as a result of lacking global information it cannot plans a optimal path. Nowadays, robot tasking becomes more and more complex, traditional path planning methods are far from meet the challenges.This article raises a hybrid path planning method for mobile robot based on both global and local information to solve the problem. Robot plans a gross path based on global information and breaks up into a series of sub-goals, following that, robot moves based on surroundings information it's exploring. The hybrid method absorbs advantages both planning based on global information and local information. With converting global optimization into local optimization between sub-goals, the hybrid method cannot traps local optimal points. Finally, the article makes a simulation with MATLAB to prove the effectiveness of the method.