Author(s)

Ming Qian ¹

Affiliation(s)

¹ R&D Center, Potevio Rail Transit Technology (Shanghai) Co., Ltd., Shanghai, China

Corresponding Author

Ming Qian

ABSTRACT

Given how quickly mobile robot technology is developing, utilizing current path planning techniques in complex environments faces challenges in dynamic obstacle avoidance, path optimization and real-time response. To deal with these problems, this paper proposes a collaborative design method for mobile robot path planning and motion control for complex environments. This paper introduces an improved version of the RRT* (Rapidly Expanding Random Tree) algorithm, combined with adaptive path adjustment and dynamic obstacle avoidance strategies, to help increase the robot's movements accuracy and planning of paths efficiency in challenging situations. The RRT* algorithm can efficiently create a workable route between the beginning and destination points while minimizing the path length and considering motion constraints. The adaptive path adjustment method updates the path in real time during the robot operation, especially under the influence of dynamic obstacles, to guarantee the path's stability and consistency. The motion control system works in conjunction with the path planning algorithm to ensure that the robot accurately tracks the optimized path and maintains safe driving. Through detailed simulation experiments, this paper compares the performance of this method with traditional algorithms (A* algorithm and basic RRT algorithm), focusing on evaluating key indicators such as execution time, path length, and obstacle avoidance performance. The experimental results show that in terms of collaborative effect, the improved RRT scores 8.5 in a static environment, higher than A*'s 7.8, indicating that its path planning and motion control collaborative optimization effect is better.

KEYWORDS

Path Planning; Motion Control; RRT* Algorithm; Dynamic Obstacle Avoidance; Adaptive Path Adjustment

CITE THIS PAPER

Ming Qian, Collaborative Design of Path Planning and Motion Control for Mobile Robots in Complex Environments. Automation and Machine Learning (2025) Vol. 6: 49-57. DOI: http://dx.doi.org/10.23977/autml.2025.060106.

REFERENCES

[1] García E, Villar J R, Tan Q, et al. An efficient multi-robot path planning solution using A* and coevolutionary algorithms[J]. Integrated Computer-Aided Engineering, 2023, 30(1): 41-52.
[2] Gu Y, Zhu Z, Lv J, et al. DM-DQN: Dueling Munchausen deep Q network for robot path planning[J]. Complex & intelligent systems, 2023, 9(4): 4287-4300.
[3] Khlif N, Nahla K, Safya B. Reinforcement learning with modified exploration strategy for mobile robot path planning[J]. Robotica, 2023, 41(9): 2688-2702.
[4] Mohanraj T, Dinesh T, Guruchandhramavli B, et al. Mobile robot path planning and obstacle avoidance using hybrid algorithm[J]. International Journal of Information Technology, 2023, 15(8): 4481-4490.
[5] Tran C C, Lin C Y. An intelligent path planning of welding robot based on multisensor interaction[J]. IEEE sensors journal, 2023, 23(8): 8591-8604.
[6] Shen H, Xie W F, Tang J, et al. Adaptive manipulability-based path planning strategy for industrial robot manipulators[J]. IEEE/ASME Transactions on Mechatronics, 2023, 28(3): 1742-1753.
[7] Zeeshan S, Aized T. Performance analysis of path planning algorithms for fruit harvesting robot[J]. Journal of Biosystems Engineering, 2023, 48(2): 178-197.
[8] Szczepanski R. Safe artificial potential field-novel local path planning algorithm maintaining safe distance from obstacles[J]. IEEE Robotics and Automation Letters, 2023, 8(8): 4823-4830.
[9] Fang W, Ding L, Tian X, et al. A robot welding path planning and automatic programming method for open impeller[J]. The International Journal of Advanced Manufacturing Technology, 2023, 124(5): 1639-1650.
[10] Eshtehardian S A, Khodaygan S. A continuous RRT*-based path planning method for non-holonomic mobile robots using B-spline curves[J]. Journal of ambient intelligence and humanized computing, 2023, 14(7): 8693-8702.
[11] Mier G, Valente J, de Bruin S. Fields2Cover: An open-source coverage path planning library for unmanned agricultural vehicles[J]. IEEE Robotics and Automation Letters, 2023, 8(4): 2166-2172.
[12] Gang Wang, Hongyuan Wen and Jun Zhou. Indoor Positioning Technology and Control of Mobile Home Service Robot[J]. Scientific Programming, 2022, 20.

Sponsors, Associates, and Links

---

• Power Systems Computation
  
  
• Internet of Things (IoT) and Engineering Applications
  
  
• Computing, Performance and Communication Systems
  
  
• Journal of Artificial Intelligence Practice
  
  
• Advances in Computer, Signals and Systems
  
  
• Journal of Network Computing and Applications
  
  
• Journal of Web Systems and Applications
  
  
• Journal of Electrotechnology, Electrical Engineering and Management
  
  
• Journal of Wireless Sensors and Sensor Networks
  
  
• Journal of Image Processing Theory and Applications
  
  
• Mobile Computing and Networking
  
  
• Vehicle Power and Propulsion
  
  
• Frontiers in Computer Vision and Pattern Recognition
  
  
• Knowledge Discovery and Data Mining Letters
  
  
• Big Data Analysis and Cloud Computing
  
  
• Electrical Insulation and Dielectrics
  
  
• Crypto and Information Security
  
  
• Journal of Neural Information Processing
  
  
• Collaborative and Social Computing
  
  
• International Journal of Network and Communication Technology
  
  
• File and Storage Technologies
  
  
• Frontiers in Genetic and Evolutionary Computation
  
  
• Optical Network Design and Modeling
  
  
• Journal of Virtual Reality and Artificial Intelligence
  
  
• Natural Language Processing and Speech Recognition
  
  
• Journal of High-Voltage
  
  
• Programming Languages and Operating Systems
  
  
• Visual Communications and Image Processing
  
  
• Journal of Systems Analysis and Integration
  
  
• Knowledge Representation and Automated Reasoning
  
  
• Review of Information Display Techniques
  
  
• Data and Knowledge Engineering
  
  
• Journal of Database Systems
  
  
• Journal of Cluster and Grid Computing
  
  
• Cloud and Service-Oriented Computing
  
  
• Journal of Networking, Architecture and Storage
  
  
• Journal of Software Engineering and Metrics
  
  
• Visualization Techniques
  
  
• Journal of Parallel and Distributed Processing
  
  
• Journal of Modeling, Analysis and Simulation
  
  
• Journal of Privacy, Trust and Security
  
  
• Journal of Cognitive Informatics and Cognitive Computing
  
  
• Lecture Notes on Wireless Networks and Communications
  
  
• International Journal of Computer and Communications Security
  
  
• Journal of Multimedia Techniques
  
  
• Computational Linguistics Letters
  
  
• Journal of Computer Architecture and Design
  
  
• Journal of Ubiquitous and Future Networks