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Abstract and Applied Analysis
Volume 2013, Article ID 260578, 14 pages
Research Article

A New Real-Time Path Planning Method Based on the Belief Space

College of Automation, Harbin Engineering University, Harbin 150001, China

Received 5 October 2013; Accepted 28 October 2013

Academic Editor: Xiaojie Su

Copyright © 2013 Yu-xin Zhao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new approach of real-time path planning based on belief space is proposed, which solves the problems of modeling the real-time detecting environment and optimizing in local path planning with the fusing factors. Initially, a double-safe-edges free space is defined for describing the sensor detecting characters, so as to transform the complex environment into some free areas, which can help the robots to reach any positions effectively and safely. Then, based on the uncertainty functions and the transferable belief model (TBM), the basic belief assignment (BBA) spaces of each factor are presented and fused in the path optimizing process. So an innovative approach for getting the optimized path has been realized with the fusing the BBA and the decision making by the probability distributing. Simulation results indicate that the new method is beneficial in terms of real-time local path planning.