On-line path planning strategy integrated with collision and dead-lock avoidance schemes for wheeled mobile robot in indoor environments

Purpose - This paper aims to present a hybrid path planning algorithm which is designed for use of autonomous vehicles in indoor environments. The approach mainly contributes the ability of generating a safe and smooth collision avoidance path for attaining a desired position in an unknown and obstructed environment. Design/methodology/approach - The hybrid planner is based on potential field method and Voronoi diagram approach, and it is represented with the ability of concurrent map building and autonomous navigation. Findings - The possibility of controlling the look-ahead distance allows the mobile robotto smartly control the velocity for creating a smooth trajectory autonomously. The dead-lock problem is solved by defining necessary sub-goals between targets on the constructed map. Originality/value - The system controller (look-ahead control) with the potential field method allows the robot to generate a smooth and safe path for an expected position. Only essential exploration of unknown environment is performed since the approach constrains the mobile robot to explore a safe and sub-optimal route towards a destination.