Obstacle avoidance path planning of cart based on Fourier transform random probability function

Hui Dong; WeiDong Wang; Zhijiang Du

doi:10.1117/12.2205647

3 December 2015 Obstacle avoidance path planning of cart based on Fourier transform random probability function

Hui Dong, WeiDong Wang, Zhijiang Du

Proceedings Volume 9794, Sixth International Conference on Electronics and Information Engineering; 97940L (2015) https://doi.org/10.1117/12.2205647
Event: Sixth International Conference on Electronics and Information Engineering, 2015, Dalian, China

Abstract

This paper presents a novel method to solve the obstacle avoidance path planning of mobile robots based on global probability density function (PDFs). Combining Fourier transform for the group of rigid-body motion in the plane, the resulting convolution theorem, and the particular single-step PDFs of a cart, we obtained global PDFs for describing the movement probability of a mobile robot. The iterative algorithm based on global PDFs takes into full account the information of target position and position of obstacles, which avoids collision between mobile robots and obstacles to obtain an optimal or near-optimal collision-free path. Simulations are carried out to demonstrate the effectiveness of the algorithm.

Citation Download Citation

Hui Dong, WeiDong Wang, and Zhijiang Du "Obstacle avoidance path planning of cart based on Fourier transform random probability function ", Proc. SPIE 9794, Sixth International Conference on Electronics and Information Engineering, 97940L (3 December 2015); https://doi.org/10.1117/12.2205647

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