Far East Journal of Experimental and Theoretical Artificial Intelligence
Volume 3, Issue 1, Pages 39 - 52
(February 2009)
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OPTIMAL ROUTE PLANNING ALGORITHM OF MOBILE ROBOT
Guo-Shing Huang (Taiwan) and Jie-Cong Ciou (Taiwan)
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Abstract:
It is one of the important subjects for the intelligent robot that an autonomous robot navigation and route plan, and optimal route planning algorithm of mobile robots is to seek a most suitable path under known environment with obstacles, enable robot to avoid all obstacles from the starting position to the arrival destination in the shortest time.
In this paper, we propose a method of the shortest tangent of the route planning, draw a circle in a safety distance of the obstacle to avoid collision with the robot, and find the possible moving path of several tangent lines among starting position, destination, and the circle of obstacles. Through the computer calculation, select an optimal path as the robotic moving path. The route is modified by using fuzzy logic control to make robot move efficiently and achieve a smooth, perfect curve in the shortest time, and fast arrive the destination. This system achieves the range recognition of obstacles with the laser scanner (SICK LMS291) or ultrasonic sensor, and combines the laser navigation system (NAV 200) to achieve the navigation function. However, all obstacles information can be changed in random under the environment of robot. It makes that the system can adapt oneself to more complicated and unknown circumstances. |
| Keywords and phrases: path planning, fuzzy logic control, ultrasonic sensor, laser navigation system. |
| Communicated by Shun-Feng Su |
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