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Real-time local path planning for mobile robots

Yingchong Ma 1 Gang Zheng 2, 1 Wilfrid Perruquetti 1, 3, 2 
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper presents a path planning algorithm for autonomous navigation of nonholonomic mobile robots in complex environment. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, kinematic robot model and nonholonomic constraint are considered in the problem. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints. Local minima are avoided by choosing intermediate objectives based on the real time environment.
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Conference papers
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Submitted on : Wednesday, November 27, 2013 - 3:19:21 PM
Last modification on : Tuesday, November 22, 2022 - 2:26:16 PM


  • HAL Id : hal-00910182, version 1


Yingchong Ma, Gang Zheng, Wilfrid Perruquetti. Real-time local path planning for mobile robots. IEEE 9th International Workshop on Robot Motion and Control, IEEE, Jul 2013, Wasowo, Poland. ⟨hal-00910182⟩



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