Path Planning And Collision Avoidance For Intelligent Robot

The behavior based method provides a good solution for path planning of the mobile robot with obstacles avoidance.The position of the sensor plays a crucial role in deciding the instantaneous safe turning angle of the robot. In this paper, firstly, we discuss these questions . A series of formulae computing the instantaneous turning angle are proposed and proved. The different functions of these turning angles are discussed. The car-like robot is endowed with different abilities during the avoidance of obstacles. And the fusion or self-organization of these abilities makes the robot safely turn to the broader space and then move forward or backward in the direction paralleling to the edge of a static or moving unknown polygon obstacle. The velocity is discussed too. These formulae are suitable for general unknown environment, static or dynamic.Secondly, based on those analysis, the basis behaviors which constructing the path planning are built. And then a planning strategy which organizes these behaviors is proposed. The strategy is good through the simulation results.Thirdly, the behaviors of two mobile robots who have been given this ability to path planning are discussed. The simulation results prove that this planning strategy is useful in multi-robots team.Lastly, the automatically on-line constructing or abstracting and optimization for the fuzzy path planning rules are study.