Optimal path planning incorporating global and local search for mobile robots

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

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

8 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012
頁面668-671
頁數4
DOIs
出版狀態已發佈 - 2012 十二月 1
事件1st IEEE Global Conference on Consumer Electronics, GCCE 2012 - Tokyo, 日本
持續時間: 2012 十月 22012 十月 5

出版系列

名字1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012

其他

其他1st IEEE Global Conference on Consumer Electronics, GCCE 2012
國家/地區日本
城市Tokyo
期間2012/10/022012/10/05

ASJC Scopus subject areas

  • 電氣與電子工程

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