Real-time path planning based on wireless sensor network for mobile robots under unknown environment
基于无线传感器网络的未知环境下移动机器人实时路径规划*

Utilizing the advantages of wireless sensor network,multi-sensor fusion for building occupancy grid map using probabilistic sensor model and particle swarm algorithm using bionic swarm intelligence, an on-line real-time path planning algorithm for mobile nodes under unknown dynamic environment was proposed through three level planning control strategy. A practical implementation had been carried out to demonstrate the enhanced efficiency and accuracy of the proposed algorithm.