Path Planning Method Design for Mobile Robots

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Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/78119

Title:	Path Planning Method Design for Mobile Robots
Authors:	Yu, Chia-jun;Chen, Yi-hong;Wong, Ching-chang
Contributors:	淡江大學電機工程學系
Keywords:	A∗ algorithm;Path Planning;autonomous robot;mobile robot
Date:	2011-09
Issue Date:	2012-08-28 11:43:44 (UTC+8)
Publisher:	The Society of Instrument and Control Engineers (SICE)
Abstract:	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.
Relation:	Proceedings of SICE Annual Conference (SICE 2011), pp.1681-1686
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Proceeding

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