Abstract

A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

Keywords

• Local Path Planning;
• Directional Weighting Method;
• Laser Range Finder;
• Navigation;
• Robot Vision;
• Mobile Robot

• 국부경로계획;
• 방향성 가중치 방법;
• 레이저 거리계;
• 항법;
• 로봇 비젼;
• 이동 로봇;