A survey of wall-following algorithm for mobile robot
The wall-following algorithm is a local path planning algorithm,and its global convergence is often better than other tra-ditional methods.In order to promote the research of wall-following algorithm in the field of path planning,the latest progress and research results of mobile robots using wall-following algorithm to plan paths were reviewed.According to the obstacle avoidance strategy and implementation of wall-following algorithm,wall-following algorithm was divided into the wall-following algorithm based on the target direction angle,the wall-following algorithm based on M-Line,the wall-following algorithm based on the opti-mal obstacle avoidance direction,the wall-following algorithm based on historical information and the wall-following algorithm based on multi algorithm fusion,and the advantages and disadvantages of various algorithms were summarized.Howe ver,in the ac-tual environment,due to the idealization of the simulation environment,the rigidity of the behavior cooperation mechanism,and the noise of sensors,there is a big gap between the wall-following algorithm in practical application and the theoretical results.Consid-ering that there are still many shortcomings in the existing algorithms,the future development trend of the wall-following algorithm was prospected from three aspects,namely developing a wall-algorithm suitable for complex real environments,exploring a more efficient and reasonable multi-behavior switching mechanism and reducing the impact of sensor noise in real environments.
万方数据
维普
