Design of switching path-planning control for obstacle avoidance of mobile robot |
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| Authors: | Rong-Jong Wai Chia-Ming Liu You-Wei Lin |
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| Institution: | Department of Electrical Engineering, Yuan Ze University, Chung Li 32003, Taiwan, R.O.C. |
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| Abstract: | Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, and planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, a switching path-planning control scheme is designed without detailed environmental information, large memory size, and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection designed by learning and expert rules for enhancing the tracking speed and adapting to different environments. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations and experimental results of a differential-driving mobile robot under the possible occurrence of obstacle shapes. |
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