| Path Planning Method Design for Mobile Robots | |
|---|---|
| 學年 | 100 |
| 學期 | 1 |
| 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 | en |
| 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 | JPN |
| 公開徵稿 | Y |
| 出版型式 | |
| 出處 | Proceedings of SICE Annual Conference (SICE 2011), pp.1681-1686 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/78119 ) |
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