Trajectory Planning Using Enhanced Vector form A∗ Algorithm with Trapezoidal Velocity Profile for Wheeled Mobile Robot

Wei Jen Chen, Bing Gang Jhong, Mei-Yung Chen

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

Abstract

This paper includes A∗ algorithm in vector map, using map's corners as the nodes. In traditional A∗ algorithm, nodes are considered as the condition of bringing up moving paths. By this way, there are a large number of turning points in the algorithm. For this reason, this paper modifies the process in A∗ algorithm and adds a function to check the feasible moving paths between nodes. And to avoid moving paths being too near obstacles and collisions, this paper includes image erosion processing to erase the region too close to the obstacles so that the robot can keep suitable distance from obstacles while moving. Besides, this paper also adds arc-shaped path optimization to make the paths smoother, so the robot can cross each node in curve path, and reduce the cost time.

Original languageEnglish
Title of host publicationNew Trends on System Sciences and Engineering - Proceedings of ICSSE 2015
EditorsHamido Fujita, Shun-Feng Su
PublisherIOS Press
Pages358-363
Number of pages6
ISBN (Electronic)9781614995210
DOIs
Publication statusPublished - 2015 Jan 1
EventInternational Conference on System Science and Engineering, ICSSE 2015 - Morioka, Japan
Duration: 2015 Jul 62015 Jul 8

Publication series

NameFrontiers in Artificial Intelligence and Applications
Volume276
ISSN (Print)0922-6389

Other

OtherInternational Conference on System Science and Engineering, ICSSE 2015
CountryJapan
CityMorioka
Period15/7/615/7/8

Keywords

  • A
  • algorithm
  • map-vectorization
  • path planning

ASJC Scopus subject areas

  • Artificial Intelligence

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  • Cite this

    Chen, W. J., Jhong, B. G., & Chen, M-Y. (2015). Trajectory Planning Using Enhanced Vector form A∗ Algorithm with Trapezoidal Velocity Profile for Wheeled Mobile Robot. In H. Fujita, & S-F. Su (Eds.), New Trends on System Sciences and Engineering - Proceedings of ICSSE 2015 (pp. 358-363). (Frontiers in Artificial Intelligence and Applications; Vol. 276). IOS Press. https://doi.org/10.3233/978-1-61499-522-7-358