%0 Journal Article
%T Mobile robot dynamic path planning based on obstacle prediction and probabilistic directional weighting<br>基于障碍预估与概率方向权值的移动机器人动态路径规划
%A ZHUANG Yan
%A WANG Wei
%A LIU Lei
%A <br>庄严
%A 王伟
%A 刘蕾
%J 控制理论与应用
%D 2007
%I 
%X A novel dynamic path planning approach is presented to integrate obstacle prediction with probabilistic directional weighting and accomplish mobile robot path planning in an unknown and dynamic environment.In order to predict obstacles' states exactly,Kalman filter is employed in the path planning.Based on the concept of period planning,a new probabilistic directional weighting method is presented to complete the real-time path planning combining information of obstacles and goal.The method is applicable to the complex indoor environment without the prior information of moving obstacles' speeds and trajectories.Finally,simulation and experiment results implemented on SmartROB2 mobile robot show the method' s validity and practicability.
%K dynamic path planning
%K Kalman filter
%K period planning
%K probabilistic directional weighting
%K obstacle pre-diction<br>动态路径规划
%K 卡尔曼滤波
%K 周期规划
%K 概率方向权值
%K 障碍预估
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=DB6238109B37AF78DE559DA8C0028150&yid=A732AF04DDA03BB3&vid=B91E8C6D6FE990DB&iid=38B194292C032A66&sid=5FF9F4F7CB1800C7&eid=556C1A86E372B606&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=13