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

研究成果: 書貢獻/報告類型會議貢獻

摘要

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.

原文英語
主出版物標題New Trends on System Sciences and Engineering - Proceedings of ICSSE 2015
編輯Hamido Fujita, Shun-Feng Su
發行者IOS Press
頁面358-363
頁數6
ISBN(電子)9781614995210
DOIs
出版狀態已發佈 - 2015 一月 1
事件International Conference on System Science and Engineering, ICSSE 2015 - Morioka, 日本
持續時間: 2015 七月 62015 七月 8

出版系列

名字Frontiers in Artificial Intelligence and Applications
276
ISSN(列印)0922-6389

其他

其他International Conference on System Science and Engineering, ICSSE 2015
國家日本
城市Morioka
期間2015/07/062015/07/08

ASJC Scopus subject areas

  • Artificial Intelligence

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