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Local path planning for mobile robots based on intermediate objectives

  • Yingchong Ma (a1), Gang Zheng (a2), Wilfrid Perruquetti (a1) (a2) and Zhaopeng Qiu (a1)

This paper presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, robot kinematic model and non-holonomic constraint are considered in the problem. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints. Local minima are avoided by choosing intermediate objectives based on the real-time environment.

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