Dynamical path-planning algorithm of a mobile robot: Local minima problem and nonstationary environments

Abstract

A dynamical local path-planning algorithm of an autonomous mobile robot available for moving obstacle avoidance as well as stationary obstacle avoidance using artificial pressure and nonlinear friction is described. The dynamical path-planning algorithm is considered to adequately accommodate the mobile robot to a dynamic situation of a path-planning nature. Artificial pressure is just a conceptual idea and a mimicry of the real physical pressure. It can be thought of as a density gradient in the neighborhood of the mobile robot. Together with the previous virtual force field (VFF) method, the path of the mobile robot is a solution of a path-planning equation. Local minima problems in stationary environments are solved by introducing nonlinear friction into the chaotic neuron. Due to the nonlinear friction, the proposed path-planner reveals chaotic dynamics in some parameter regions. This new path-planner is feasible in guiding, on real-time, the mobile robot to avoid stationary obstacles and reach the goal. Computer simulations are presented to show the effectiveness of the proposed algorithm.