%0 Journal Article
	%A Rong-Jong Wai and  Chia-Ming Liu
	%D 2011
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 54, 2011
	%T Adaptive Path Planning for Mobile Robot Obstacle Avoidance
	%U https://publications.waset.org/pdf/4784
	%V 54
	%X 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.
	%P 769 - 775