A Fast Robot Path Planning Algorithm Based on Image Thinning
文献类型：会议论文
| 作者 | Ke Xu; Ruiqing Fu; Lei Deng; Yongsheng Ou; Xinyu Wu |
| 出版日期 | 2010 |
| 会议名称 | 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 |
| 英文摘要 | A fast, reliable mapping and path planning method is essential to autonomous mobile robots. Popular global algorithms usually adopt occupancy gird maps (OGM) or a topological map (TM) to generate a practicable path. In this paper, we present a new path planning algorithm based on the image thinning process and the extraction of key nodes. It requires much less time and memory compared with the OGM method for generating a path, and much simpler, more robust than the TM, while preserving advantages of both. With the new algorithm, a collision-free path could be obtained in real time. Results from simulation experiments validate its efficiency and reliability |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2886]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2010 |
| 推荐引用方式 GB/T 7714 | Ke Xu,Ruiqing Fu,Lei Deng,et al. A Fast Robot Path Planning Algorithm Based on Image Thinning[C]. 见:3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010. |
入库方式： OAI收割
来源：深圳先进技术研究院
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