會議論文
| 學年 | 101 |
|---|---|
| 學期 | 1 |
| 發表日期 | 2012-08-20 |
| 作品名稱 | Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot |
| 作品名稱（其他語言） | |
| 著者 | Lu, Ming-Chih; Hsu, Chen-Chien; Chen, Yuan-Jun; Li, Shih-An |
| 作品所屬單位 | 淡江大學電機工程學系 |
| 出版者 | Springer |
| 會議名稱 | 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress (FIRA-TAROS 2012 Congress) |
| 會議地點 | Bristol, England, United Kingdom |
| 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. |
| 關鍵字 | path planning, mobile robot, Voronoi Graph, D* algorithm, A* algorithm |
| 語言 | en |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | 無 |
| 研討會時間 | 20120820~20120825 |
| 通訊作者 | |
| 國別 | USA |
| 公開徵稿 | Y |
| 出版型式 | 電子版 |
| 出處 | Advances in autonomous robotics : joint proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, pp.441-443 Lecture Notes in Computer Science 7429 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/79543 ) |