[1]XUE Ying-hua,TIAN Guo-hui,WU Hao,et al.Path planning for service robots in an intelligent space[J].CAAI Transactions on Intelligent Systems,2010,5(3):260-265.
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Path planning for service robots in an intelligent space

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 5 Number of periods: 2010 3 Page number: 260-265 Column: 学术论文—智能系统 Public date: 2010-06-25
Title:
Path planning for service robots in an intelligent space
Author(s):
XUE Ying-hua1; 2;  TIAN Guo-hui1;  WU Hao1;  JI Yan-qing1
1.School of Control Science and Engineering, Shandong University, Ji’nan 250061, China；
 2.School of Computer and Information Engineering, Shandong Finance Institute, Ji’nan 250014, China
Keywords:
intelligent space;  service robot;  path planning;  danger degree map;  particle swarm optimization;  A* algorithm
CLC:
TP24
DOI:
-
Abstract:
A service robot must be capable of deeply understand its environment, so that it may safely navigate intelligent spaces with high performance. In order for this to be possible, a new environmental model, or danger degree map (DDM), was created to provide enriched environmental information for service robots. As the intelligent space is partly unknown, the layered path planning method was used. A modified particle swarm optimization (PSO) algorithm based on a known environment was introduced to get a static optimized path. The dynamic layer used a modified A* algorithm for avoidance of dynamic obstacles on the basis of the dynamic DDM. The proposed method adds evaluation of the degree of danger in a path to overcome the disadvantages of conventional methods, which follow the shortest path and ignore safety. The new method is simple and meets the realtime requirements of robot navigation. The resulting dynamic path is not only safe enough but also comparatively short. Simulation results demonstrated the feasibility of the method. 
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