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標題:Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot
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
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20120820~20120825
通訊作者
國別美國
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
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