Application of hybrid path-planning method on dual-wheel robot
一种混合路径规划方法在轮式机器人中的应用*

Aiming at the problems existing in the local path planning or the global path planning of robot, this paper proposed a hybrid path-planning method, constructed the moving model of robot and the expanding circle model of obstacle, the robot planed the local temporaray path to avoid the detected obstacle when moving along the global planning path to the target in the grid map. Proved the time convergence of this method and also proved the validity through the experiment on the platform of dual-wheel velocity difference-driven robot Pioneer 3-DX.