Path planning based on Spline D* for mobile-robot

Title
Path planning based on Spline D* for mobile-robot
Author(s)
이석규유희락최윤원[최윤원]딜샛사이토프에스
Issue Date
201401
Citation
Transactions of the Korean Institute of Electrical Engineers, v.63, no.1, pp.92 - 98
Abstract
This paper proposes a hermite spline based D* algorithm for effective path planning of mobile robot to improve the detecting speed. In conventional path planning research, a robot is supposed to pass through predetermined centers of grid partitions of area. However it doesn't guarantee the optimal path during its navigation. In addition, a robot is hard to avoid obstacles effectively. The proposed algorithm in this paper makes use of stochastic characteristics of nonholonomic mobile robot and estimation of shortest path to curvature movement of the robot. The performance evaluation of the improved spline D* algorithm performed through simulation shows its effectiveness. Moreover, the experiment verifies that a robot can find the shortest path by building the curve paths while it is moving on the path in spline.
URI
http://hdl.handle.net/YU.REPOSITORY/33427http://dx.doi.org/10.5370/KIEE.2014.63.1.092
ISSN
1975-8359
Appears in Collections:
공과대학 > 전기공학과 > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE