Optimal path planning incorporating global and local search for mobile robots

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

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

7 Citations (Scopus)

Abstract

This paper proposes an optimal path planning algorithm incorporating a global and local search mechanism for mobile robots. 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 optimal 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. Simulation results have confirmed the feasibility of the proposed algorithm for practical use in the real-world environment.

Original languageEnglish
Title of host publication1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012
Pages668-671
Number of pages4
DOIs
Publication statusPublished - 2012 Dec 1
Event1st IEEE Global Conference on Consumer Electronics, GCCE 2012 - Tokyo, Japan
Duration: 2012 Oct 22012 Oct 5

Publication series

Name1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012

Other

Other1st IEEE Global Conference on Consumer Electronics, GCCE 2012
CountryJapan
CityTokyo
Period12/10/212/10/5

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Hsu, C-C. J., Chen, Y. J., Lu, M. C., & Li, S. A. (2012). Optimal path planning incorporating global and local search for mobile robots. In 1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012 (pp. 668-671). [6379947] (1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012). https://doi.org/10.1109/GCCE.2012.6379947