Hybrid path planning incorporating global and local search for mobile robot

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

研究成果: 書貢獻/報告類型會議論文篇章

7 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
頁面441-443
頁數3
DOIs
出版狀態已發佈 - 2012 八月 20
事件Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress - Bristol, 英国
持續時間: 2012 八月 202012 八月 23

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
7429 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

其他

其他Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
國家英国
城市Bristol
期間2012/08/202012/08/23

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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