Path planning for an autonomous mobile robot with randomly moving obstacles and goal.

摘要

This thesis presents dynamic path planning of a mobile robot with a randomly moving goal and five randomly moving obstacles. The main advantage of this method is the trajectories of both obstacles and the goal are not known a priori to the robot. A new mathematical algorithm is introduced to generate the path. The new mathematical algorithm is based on the concept of three-dimensional geometry. The robot calculates the path quickly to avoid moving obstacles and moves toward a randomly moving goal. This approach involves faster decision-making and can be essentially implemented in real life where everything is moving. Simulations are presented in 3-D using MATLAB to demonstrate collision avoidance and path planning.