Multi-Behavior Fusion-Based Path Planning for Mobile Robot

To solve the local minimum problem in existing path planning for mobile robot, a multi-behavior fusion approach for path planning was proposed. The proposed approach contains three kind basic behaviors which were designed for selecting the proper one to complete the mission of path planning. The behavior of escaping the local minimum can assess whether the robot is in the local minimum with the trial principle and employ the angle-compensation method to escape the obstacle with the local minimum. The results of simulation and experiment demonstrate the adaptability of proposed approach, being more reliable and extensive than some existing methods.