Path Planning in Unknown Environment With Obstacles Using Virtual Window

Authors:
M. A. Mansor;A. S. Morris
Affiliations:
Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K.;Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K.
Venue:
Journal of Intelligent and Robotic Systems
Year:
1999

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Abstract

A virtual window has been applied for real-time path planning of a mobile robot in the presence of unknownobstacles. The path planner projects a vertical plane ahead of the robot, and calculations of the space ahead and anyintersections are done with respect to this window. A radial basis function is used to decipher the information on the windowand to relay it to the planner. Using this technique, path planning through an unknown space can be performed which avoidscollisions with obstacles present in the space. A simple method of defining an obstacle or many obstacles is also proposed byusing rectangles of different sizes.