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International Conference on Computer Research and Development, 5th (ICCRD 2013)

Fan Yama
Fan Yama
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ASME Press
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This paper focuses on the research of collision avoidance local path planning for mobile robots, which is to find a collision-free path from the source position to the destination position among unknown obstacles under the guidance of the global path planning. The paper researches into the local path planning problem in the environment which the shape and location of obstacles is unknown, and proposes a new path planning method of collision avoidance. It realizes the collision avoidance by the path planning method likes the artificial potential energy field based on the grid-type obstacle environment. The method has a low complexity and high efficiency, and results out a valid collision-free path. In this paper, the details of the algorithm are introduced.

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