The mobile robot path planning with motion constraints based on Bug algorithm

Considering the motion constraints of the robot, an autonomous navigation method based on Bug algorithm was proposed. Combining Dubins path and Bug algorithm, in the process a robot moving from initial pose position to final pose position, a path satisfied the robot's kinematics parameters was planned. Firstly, the robot moved along the initial Dubins path from initial pose position to final pose position with sensing the environment information under the prescribed condition. Once there being obstacles blocking the current path, generate an intermediate pose position to avoid the obstacle, and then calculate two Dubins paths from current pose position to intermediate pose position and from intermediate pose position to final pose position in order to get an updated planning path. Finally, make the robot move along the updated planning path. Repeat the process of moving, sensing, generating intermediate pose position and updating path until the robot achieves the final pose position without collision. The simulation results show that the proposed method is safe, efficient and easy to implement.