Real-Time Trajectory Planning Method for Mobile Robot Experimentation in Random Obstacles Environment

This paper presents a new real-time trajectory planning method for mobile robot in random obstacles environment, aiming to give an efficient implementation for “First Global After Local” trajectory planning method that we have established earlier. First, the global path planning method is employed the target direction angle tracking modeling. Then, the recursive algorithm is used for the evaluation of sub-target point. Finally, the swarm intelligence optimization is utilized for the local trajectory planning method. The real-time trajectory planning system is built and tested on the mobile robot platform, the experimental results prove that our method is effective and can be used in the real-time trajectory planning of mobile robots.