Path planning strategy design under the experience of mobile robot navigation

Abstract

This paper presents a path planning strategy for a mobile robot. The path planning strategy is according to the experience that the mobile robot has been experienced in target navigation. The mixed reality technique is implemented by both the Virtools tool and mobile robot. There are three basic interactive behaviors of human beings which have been implemented on this proposed mobile robot. They are targeting navigation behavior, face tracking behavior, and obstacle avoidance behavior; all of them are designed by the fuzzy rule methods, respectively. These behaviors make the proposed path planning strategy possible. The virtual reality environment is used to implement the arbitrator of the behaviors and to choose the behavior rules for dynamic environment changing. Experiments show that the proposed behaviors are well designed. The proposed robot system can optimize the path planning based on the previous navigation experience.