METHOD OF SPATIAL PATH PLANNING FOR MOBILE ROBOT IN UNKNOWN ENVIRONMENT

D.A. Yukhimets
Doctor of Technical Science, Institute of Automation and Control Processes FEB RAS, Senior Research Scientist, 5, Radio ul., Vladivostok, 690041, Russia, tel.: +7(924)232-86-44, This email address is being protected from spambots. You need JavaScript enabled to view it.

A.S. Gubankov
PhD in Technical Sciences, Institute of Automation and Control Processes FEB RAS, Research Scientist, 5, Radio ul., Vladivostok, 690041, Russia, tel.: +7(423)231-37-83, This email address is being protected from spambots. You need JavaScript enabled to view it.

A.V. Zuev
PhD in Technical Sciences, Far Eastern Federal University, Junior Research Scientist, FEFU, poselok Ayaks, Russky Island, Vladivostok, 690041, Russia, tel.: +7(423)231-37-83, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 4 April 2018

Abstract
New method of spatial path planning for mobile robots moving in unknown environment with obstacles is proposed. This method is based on using onboard rangefinders data. The feature of the method is a simple algorithm of decision making for obstacle avoidance mode: in vertical plane without correction of reference motion trajectory or sideways with correction of this trajectory. The advantage of this method is smooth planning of smooth trajectory that allows increasing mobile robot speed.
The work is supported by the Russian Foundation for Basic Research (grant 17-57-45055, 16-37-60025), and by the Russian Science Academy presidium program no.29 «Current Problems of Robotics».

Key words
Mobile robot, path planning, unknown environment, spatial trajectory, Bezier splines.

Bibliographic description
Yukhimets, D., Gubankov, A. and Zuev, A. (2018). Method of spatial path planning for mobile robot in unknown environment. Robotics and Technical Cybernetics, 2(19), pp.46-51.

UDC identifier:
681.518.3

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