TY - GEN
T1 - Trajectory Planning Using Enhanced Vector form A∗ Algorithm with Trapezoidal Velocity Profile for Wheeled Mobile Robot
AU - Chen, Wei Jen
AU - Jhong, Bing Gang
AU - Chen, Mei Yung
N1 - Publisher Copyright:
© 2015 The authors and IOS Press. All rights reserved.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - A
KW - algorithm
KW - map-vectorization
KW - path planning
UR - http://www.scopus.com/inward/record.url?scp=84948664947&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84948664947&partnerID=8YFLogxK
U2 - 10.3233/978-1-61499-522-7-358
DO - 10.3233/978-1-61499-522-7-358
M3 - Conference contribution
AN - SCOPUS:84948664947
T3 - Frontiers in Artificial Intelligence and Applications
SP - 358
EP - 363
BT - New Trends on System Sciences and Engineering - Proceedings of ICSSE 2015
A2 - Fujita, Hamido
A2 - Su, Shun-Feng
PB - IOS Press
T2 - International Conference on System Science and Engineering, ICSSE 2015
Y2 - 6 July 2015 through 8 July 2015
ER -