A path planning algorithm for an intelligent mobile robot

Kai-Tat NG, Wing-Nam CHAU, Sam KWONG

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A new path planning algorithm is designed for an intelligent mobile robot, which is aimed at generating a collision-free path from the robot to a target point or to prove that the target cannot be reached. The new algorithm is divided into three parts: the Round Obstacle Algorithm, the Convex Searching Algorithm and the Free Edge Algorithm. The Round Obstacle Algorithm determines the right direction of travel towards the target, the Convex Searching Algorithm is used to test for target reachability and the Free Edge Algorithm is designed to search an edge for the robot to emerge from the obstacle. The robot is equipped with a rotating ultrasonic distance measuring device which dynamically maps the surrounding and continually updates the environmental map around it. The robot will learn and store the information of the environment into its database during the path planning processes. After a long learning process, the robot can construct a path directly to the target without fully scanning to the environment. © 1992 by IEEE Singapore Section.
Original languageEnglish
Title of host publicationSingapore International Conference on Intelligent Control and Instrumentation - Proceedings
ISBN (Print)0780306325
Publication statusPublished - Feb 1992
Externally publishedYes


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