Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 會議論文 > Item 987654321/79543

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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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