On-line real-time path planning of mobile robots in dynamic uncertain environment

A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive （AR） model to predict the future positions of moving obstacles, and the predicted position taken as the next position of moving obstacles, a motion path in dynamic uncertain environment is planned by means of an on-line real-time path planning technique based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. The effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples.