Tree-like Structure Path Planning using Real-time Sensors data and Way Points

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	Tree-like Structure Path Planning using Real-time Sensors data and Way Points
	Hu YM(胡艳明); Li DC(李德才); Gu F(谷丰); Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达)
	2016
会议名称	2016 12th International Conference on Intelligent Unmanned Systems (ICIUS 2016)
会议日期	Augest 23-25, 2016
会议地点	Xi'an, China
关键词	mobile robot path planning graph search algorithm road shape environment
通讯作者	胡艳明
中文摘要	Inspired by the storage structure of graph search algorithm, we propose a tree-like data structure (TLDS) for environment information storage. The robot uses only some sparse information of global environment and can easily slips into the dead end or the wrong way, especially the forks in the road. Moreover, based on the TLDS, a complete planning scheme can be obtained. It can help the robot to search in each branch road it may encounter, and to return to the fork in the road for re-planning when the mobile robot know the road is wrong. Simulation results are presented along with two different kind purposes, the first Mini-Test is to verify the feasibility of the tree-like data structure, and the second Test is to verify the complete set of solution.
产权排序	1
会议录	2016 12th International Conference on Intelligent Unmanned Systems (ICIUS 2016)
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19532]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Hu YM,Li DC,Gu F,et al. Tree-like Structure Path Planning using Real-time Sensors data and Way Points[C]. 见:2016 12th International Conference on Intelligent Unmanned Systems (ICIUS 2016). Xi'an, China. Augest 23-25, 2016.