Path planning and obstacle avoidance for autonomous mobile robots: a review

Authors:
Voemir Kunchev;Lakhmi Jain;Vladimir Ivancevic;Anthony Finn
Affiliations:
School of Electrical and Information Engineering, Knowledge Based Intelligent Engineering Systems Centre, University of South Australia, SA, Australia;School of Electrical and Information Engineering, Knowledge Based Intelligent Engineering Systems Centre, University of South Australia, SA, Australia;Defence Science and Technology Organisation;Defence Science and Technology Organisation
Venue:
KES'06 Proceedings of the 10th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part II
Year:
2006

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Abstract

Recent advances in the area of mobile robotics caused growing attention of the armed forces, where the necessity for unmanned vehicles being able to carry out the “dull and dirty” operations, thus avoid endangering the life of the military personnel. UAV offers a great advantage in supplying reconnaissance data to the military personnel on the ground, thus lessening the life risk of the troops. In this paper we analyze various techniques for path planning and obstacle avoidance and cooperation issues for multiple mobile robots. We also present a generic dynamics and control model for steering a UAV along a collision free path from a start to a goal position.