{"title":"Adaptive Path Planning for Mobile Robot Obstacle Avoidance","authors":"Rong-Jong Wai, Chia-Ming Liu","volume":54,"journal":"International Journal of Electrical and Computer Engineering","pagesStart":769,"pagesEnd":776,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/4784","abstract":"Generally speaking, the mobile robot is capable of\r\nsensing its surrounding environment, interpreting the sensed\r\ninformation to obtain the knowledge of its location and the\r\nenvironment, planning a real-time trajectory to reach the object. In\r\nthis process, the issue of obstacle avoidance is a fundamental topic to\r\nbe challenged. Thus, an adaptive path-planning control scheme is\r\ndesigned without detailed environmental information, large memory\r\nsize and heavy computation burden in this study for the obstacle\r\navoidance of a mobile robot. In this scheme, the robot can gradually\r\napproach its object according to the motion tracking mode, obstacle\r\navoidance mode, self-rotation mode, and robot state selection. The\r\neffectiveness of the proposed adaptive path-planning control scheme\r\nis verified by numerical simulations of a differential-driving mobile\r\nrobot under the possible occurrence of obstacle shapes.","references":"[1] T. C. Lee, C. Y. Tsai, and K. T. Song, \u00b6\u00c7\u00c7\u00fcFast parking control of mobile\r\nrobots: a motion planning approach with experimental validation,\u00b6\u00c7\u00c7\u00e9 IEEE\r\nTrans. Contr. Syst. Technol., vol. 12, no. 5, pp. 661\u00b6\u00c7\u00c7\u00fc676, 2004.\r\n[2] T.-H. S. Li, S. J. Chang, and Y. X. Chen, \u00b6\u00c7\u00c7\u00fcImplementation of human-like\r\ndriving skills by autonomous fuzzy behavior control on an FPGA-based\r\ncar-like mobile robot,\u00b6\u00c7\u00c7\u00e9 IEEE Trans. Ind. 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