教師資料查詢 | 類別: 會議論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:Path Planning Method Design for Mobile Robots
學年
學期
發表日期2011/09/13
作品名稱Path Planning Method Design for Mobile Robots
作品名稱(其他語言)
著者Yu, Chia-jun; Chen, Yi-hong; Wong, Ching-chang
作品所屬單位淡江大學電機工程學系
出版者The Society of Instrument and Control Engineers (SICE)
會議名稱Proceedings of SICE Annual Conference (SICE 2011)
會議地點Tokyo, Japan
摘要In this paper, a path planning method for autonomous mobile robots in a known indoor environment is proposed. A traditional A* algorithm modified by a weighted cost function is proposed. The factors of distance and safety are considered simultaneously in the cost function so that the path planning can let the mobile robot reach its goal safely and quickly. Some simulation results are presented to illustrate the proposed method has a good path planning for mobile robots. The proposed method has also been implemented and tested on a real mobile robot. The experiment results illustrate that the proposed method can let the autonomous mobile robot have a safe path-planning in a known environment.
關鍵字A∗ algorithm; Path Planning; autonomous robot; mobile robot
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20110913~20110918
通訊作者
國別日本
公開徵稿Y
出版型式
出處Proceedings of SICE Annual Conference (SICE 2011), pp.1681-1686
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