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Sub-optimality analysis of mobile robot rolling path planning |
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| Authors: | Chungang?Zhang mailto:cgzhang@online.sh.cn" title=" cgzhang@online.sh.cn" itemprop=" email" data-track=" click" data-track-action=" Email author" data-track-label=" " >Email author,Xi?Yugeng |
| Affiliation: | Institute of Automation, Shanghai Jiao Tong University, Shanghai 200030, China |
| Abstract: | Rolling planning is an efficient method for path planning in uncertain environment. In this paper, the general principle and algorithm of mobile robot path planning based on rolling windows are studied. The sub-optimality of rolling path planning is analyzed in details and explained with a concrete example. |
| Keywords: | path planning rolling planning rolling window local planning sub-optimality predictive control. |
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