Hybrid path planning incorporating global and local search for mobile robot

Ming Chih Lu, Chen Chien Hsu, Yuan Jun Chen, Shih An Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper proposes a hybrid path planning algorithm incorporating a global and local search mechanism for mobile robot. The global path planning is based on Voronoi graph to establish a backbone path for the map with significantly reduced nodes for the original grid map. With the use of the backbone path, the D* algorithm is adopted to determine a shortest path between the starting and end points. Taking advantages of the D* algorithm and Voronoi graph, the proposed hybrid path planning algorithm is capable of obtaining a desired path for the mobile robot, overcoming the efficiency problem while maintaining maximum safety distance from the obstacles when the mobile robot navigates in the environment.

Original languageEnglish
Title of host publicationAdvances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
Pages441-443
Number of pages3
DOIs
Publication statusPublished - 2012 Aug 20
EventJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress - Bristol, United Kingdom
Duration: 2012 Aug 202012 Aug 23

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7429 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

OtherJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
CountryUnited Kingdom
CityBristol
Period12/8/2012/8/23

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Keywords

  • A* algorithm
  • D* algorithm
  • Voronoi Graph
  • mobile robot
  • path planning

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Lu, M. C., Hsu, C. C., Chen, Y. J., & Li, S. A. (2012). Hybrid path planning incorporating global and local search for mobile robot. In Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress (pp. 441-443). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7429 LNAI). https://doi.org/10.1007/978-3-642-32527-4_50