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OperativeCriticalPointBug Algorithm - Local Path Planning of Mobile Robot Avoiding Obstacles

机译：OperativeCriticalPointBug算法-移动机器人避免障碍物的本地路径规划

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For Autonomous Mobile Robot one of the biggest and interesting issues is path planning. An autonomous mobile robot should be able determine its own path to reach destination. This paper offers a new algorithm for mobile robot to plan a path in local environments with stationary as well as moving obstacles. For movable robots' path planning OperativeCriticalPointBug(OCPB) algorithm, is a new Bug algorithm. This algorithm is carried out by the robot throughout the movement from source to goal, hence allowing the robot to rectify its way if a new obstacle comes into the route or any existing obstacle changes its route. According as, not only the robot tries to avoid clash with other obstacle but also tries a series of run time adjustment in its way to produce roughly a best possible path. During journey the robot is believed to be capable to act in an unknown location by acquiring information perceived locally. Using this algorithm the robot can avoid obstacle by considering its own as well as the obstacle's dimension. The obstacle may be static or dynamic. The algorithm belongs to bug family.
机译：对于自主移动机器人而言，最大且有趣的问题之一是路径规划。自主移动机器人应该能够确定其自己的到达目的地的路径。本文提供了一种新的算法，可用于移动机器人在具有固定和移动障碍物的局部环境中规划路径。对于移动机器人的路径规划，OperativeCriticalPointBug（OCPB）算法是一种新的Bug算法。该算法在从源到目标的整个移动过程中由机器人执行，因此，如果有新障碍物进入路线或任何现有障碍物改变了路线，则允许机器人纠正其路线。因此，机器人不仅试图避免与其他障碍物发生冲突，而且还尝试以其方式进行一系列运行时间调整，以产生大致最佳的路径。人们认为，在旅途中，该机器人能够通过获取本地感知的信息来在未知位置行动。使用该算法，机器人可以通过考虑自身的尺寸以及障碍物的尺寸来避开障碍物。障碍物可能是静态的，也可能是动态的。该算法属于错误家族。

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