Generating optimal path by level set approach for a mobile robot moving in static/dynamic environments
发布时间：2025-04-30
点击次数：
- 发布时间：
- 2025-04-30
- 论文名称：
- Generating optimal path by level set approach for a mobile robot moving in static/dynamic environments
- 发表刊物：
- Applied Mathematical Modelling
- 摘要：
- According to the analogy between the mobile robot navigation path and the heat trans-
ferring path under steady state, the robot path planning problem during navigation is
converted into identify the heat transferring path that minimizes the thermal compliance
across the analysis domain. A new path planning approach which combines the concept
of growth simulation and level set based heat conduction topology optimization frame-
work is adopted to determine the heat transferring path. By introducing the concept of
growth simulation, the proposed approach could calculate a few steps of the navigation
path, which is of great significance for online reactive navigation. The proposed approach
could avoid local minima and search for the optimal growth orientation freely without
constraints from background mesh since the inherent characteristics of heat conduction
and the level set approach, respectively. A new reactive navigation algorithm based on the
proposed path planning approach and the concept of temporarily safe path is proposed
to navigate the mobile robot from the start point to the goal point in unknown dynamic
environment with static and dynamic obstacles. Diverse simulation cases are carried to
illustrate the effectiveness of the reactive navigation algorithm.
- 合写作者：
- Xiaohu Li , Gen Zhao , Baotong Li
- 是否译文：
- 否
- 发表时间：
- 2020-05-25