A hybrid approach for mobile robot path planning in dynamic environments
文献类型:会议论文
作者 | Du ZJ(杜振军); Qu DK(曲道奎); Xu F(徐方); Xu DG(徐殿国) |
出版日期 | 2007 |
会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2007) |
会议日期 | December 15-18, 2007 |
会议地点 | Sanya, China |
关键词 | mobile robot path planning dynamic environments |
页码 | 1058-1063 |
中文摘要 | A strategy based on both the benefit of global path planer and local path planner and the benefit of deliberate path planner and reactive path planner is proposed for indoor mobile robot navigation in unstructured and dynamic environments. Global path planner uses A* method to generate a series of sub-goal points to the target point, and local path planner adopts an improved potential field method to smooth the path between the pre-planned sub-goal points. This method can not only effectively generate a global optimal path using the known information, but also handle the unknown obstacles in the dynamic environments in time. The satisfactory performance of our algorithm is validated via simulations and realistic operating conditions. |
收录类别 | EI ; CPCI(ISTP) |
产权排序 | 1 |
会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn |
会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 |
会议录出版者 | IEEE |
会议录出版地 | NEW YORK |
语种 | 英语 |
ISBN号 | 978-1-4244-1761-2 |
WOS记录号 | WOS:000257065801019 |
源URL | [http://ir.sia.cn/handle/173321/7655] |
专题 | 沈阳自动化研究所_其他 |
推荐引用方式 GB/T 7714 | Du ZJ,Qu DK,Xu F,et al. A hybrid approach for mobile robot path planning in dynamic environments[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007. |
入库方式: OAI收割
来源:沈阳自动化研究所
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