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 en
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 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
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