Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot

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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:	[Graduate Institute & Department of Electrical Engineering] Chapter

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