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《Journal of Zhejiang University(Engineering Science)》 2007-10
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Sideslip-force based local path planning in complex and dynamic environment

JIANG Wan-li,XIONG Rong,CHU Jian(State Key Laboratory of Industrial Control Technology,Institute of Advanced Process Control,Zhejiang University,Hangzhou 310027,China)  
The local path planning of mobile robots was investigated.A new approach of virtual sideslip-force was proposed to solve the oscillation problem of traditional virtual force in cluttered workspace.Instead of repulsive force,each obstacle casts a sideslip-force on the robot,and the robot's obstacle avoidance motion is determined by the resultant force.The sideslip-force of static obstacle is decided by the robot related distance,bearing and the target's bearing, while for dynamic obstacle the robot velocity is also considered.The approach supervises former path to solve the "local trap" problem.If a repeated path is found during a certain continuous period,the trap situation is reckoned and a wall-following strategy is started to escape the trap.Simulation demonstrates the effectiveness and real-time property of the algorithm in complex dynamic environment.
【Fund】: 国家自然科学基金资助项目(60675049);; 国家创新研究群体科学基金资助项目(60421002);; 浙江省自然科学基金资助项目(Y106414)
【CateGory Index】: TP242
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