@article{(Open Science Index):https://publications.waset.org/pdf/4784, title = {Adaptive Path Planning for Mobile Robot Obstacle Avoidance}, author = {Rong-Jong Wai and Chia-Ming Liu}, country = {}, institution = {}, abstract = {Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, an adaptive path-planning control scheme is designed without detailed environmental information, large memory size and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations of a differential-driving mobile robot under the possible occurrence of obstacle shapes.}, journal = {International Journal of Electrical and Computer Engineering}, volume = {5}, number = {6}, year = {2011}, pages = {769 - 775}, ee = {https://publications.waset.org/pdf/4784}, url = {https://publications.waset.org/vol/54}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 54, 2011}, }