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    题名: Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot
    作者: Lu, Ming-Chih;Hsu, Chen-Chien;Chen, Yuan-Jun;Li, Shih-An
    贡献者: 淡江大學電機工程學系
    关键词: path planning, mobile robot, Voronoi Graph, D* algorithm, A* algorithm
    日期: 2012-08-22
    上传时间: 2012-12-10 21:18:39 (UTC+8)
    出版者: Springer
    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.
    關聯: 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
    DOI: 10.1007/978-3-642-32527-4_50
    显示于类别:[電機工程學系暨研究所] 會議論文

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