Aiming at the problems of unsmooth and low efficiency in path planning of the indoor mobile robot, a path planning obstacle avoidance system is proposed. First, the global path is generated in the environment grid map by A* algorithm. Second, as the pose constraint, the Reeds-Shepp path set can generate the executable control instructions by extracting the key points of the path. Third, the static/dynamic obstacle is recognized by a binocular camera and avoided by a decision-making method. The experimental result shows that the generated path can meet the actual motion constraints of the mobile robot, the relative error of the obstacle depth distance is 0.03%, which meets the requirements of the robot path planning.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.