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Published in:
2011 | OriginalPaper | Chapter
Robot Real-Time Motion Planning and Collision Avoidance in Dynamically Changing Environments
Author : Zhang Jin-xue
Published in: Emerging Research in Artificial Intelligence and Computational Intelligence
Publisher: Springer Berlin Heidelberg
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Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. The paper provides a literature review of previous works on robot motion planning and collision avoidance. A study on a novel force field method for robot motion planning has been given. Firstly, force field method is present, then, subgoal-guided force field method is proposed, finally, simulations on robot motion planning are carried out in the Player/Stage platform. The Subgoal-Guided Force Field method is suitable for real-time motion planning and collision avoidance in partially known and dynamically changing environments. Simulation results verify the feasibility and performance of the proposed methods.