Robot path planning in globally unknown environments based on rolling windows

In this paper, robot path planning in globally unknown environments is stud ied. Using the rolling optimization concept in predictive control for refer ence, a new strategy of path planning for a mobile robot, based on rolling windows, is proposed. The method makes full use of the real-time local envi ronmental information detected by the robot and the on-line path planning i s carried on in a rolling style. Optimization and feedback are combined in a reasonable way. The convergence of the planning algorithm is also discuss ed.