Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot
學年 101
學期 1
出版（發表）日期 2012-08-01
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
單位 淡江大學電機工程學系
出版者 Berlin Heidelberg: Springer
著錄名稱、卷期、頁數 Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, pp.441-443
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
ISBN 9783642325274
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