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| Obstacle Avoidance Based on Multiple Objective Optimization for Mobile Robots |
| YANG Jing-Dong-1, YANG Jing-Hui-2, CAI Ze-Su-3 |
| (1. School of OpticalElectrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; 2. School of Business Management, Shanghai Second Polytechnic University, Shanghai 201209, China; 3. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China) |
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Abstract Obstacle avoidance is an important aspect of navigation for autonomous mobile robots. An efficient algorithm of obstacle avoidance was put forward based on multiple objective optimization (MOO) theory. The algorithm gives how to acquire the efficient solution for mobile robots using the multiple objective optimization theory. The method divides the navigation with the given goal into three subbehaviors, which can be changed dynamically according to the current weighting or priority, in order to acquire the most satisfying path or preferred solution at current time. In the end, the experiment shows that the algorithm can improve the security and smoothness of obstacle avoidance efficiently without sacrificing the
robustness of the whole process.
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Received: 31 August 2011
Published: 28 February 2012
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