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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/80483


    Title: Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot
    Authors: Lu, Ming-Chih;Hsu, Chen-Chien;Chen, Yuan-Jun;Li, Shih-An
    Contributors: 淡江大學電機工程學系
    Keywords: path planning;mobile robot;Voronoi Graph;D* algorithm;A* algorithm
    Date: 2012-08
    Issue Date: 2013-01-25 10:40:13 (UTC+8)
    Publisher: Berlin Heidelberg: Springer
    Abstract: 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.
    Relation: Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, pp.441-443
    DOI: 10.1007/978-3-642-32527-4_50
    Appears in Collections:[電機工程學系暨研究所] 專書之單篇

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