@inproceedings{aa07326b6254429fa1046a105d24746b,
title = "Hybrid path planning incorporating global and local search for mobile robot",
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.",
keywords = "A* algorithm, D* algorithm, Voronoi Graph, mobile robot, path planning",
author = "Lu, {Ming Chih} and Hsu, {Chen Chien} and Chen, {Yuan Jun} and Li, {Shih An}",
year = "2012",
doi = "10.1007/978-3-642-32527-4_50",
language = "English",
isbn = "9783642325267",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "441--443",
booktitle = "Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress",
note = "Joint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress ; Conference date: 20-08-2012 Through 23-08-2012",
}