Mobile Robot Path Planning Based on Geometry Algorithm
基于几何法的移动机器人路径规划*

This paper is concerted with obstacles avoidance and path planning for mobile robots in a dynamic environment. The collision of robot and obstacle is determined accurately with geometry calculation in mobile robots system. The path planning for obstacles avoidance is proposed in which the robot arrives to the safe circle along the convergent curve afterward encircle a dynamic circle; the robot quits the circle and finally reaches the former path along the arc. The basic theories of avoiding obstacles and geometry algorithm are combined, consequently the good paths are produced and the efficiency of robots avoiding obstacles is enhanced.