A local path planning algorithm under the variable planning size

doi:10.1109/CISP-BMEI.2016.7852815

CORC > 兰州理工大学 > 兰州理工大学

	A local path planning algorithm under the variable planning size
	Wan, Teng; Li, Ce; Zhang, Yachao
	2017-02-13
会议日期	October 15, 2016 - October 17, 2016
会议地点	Datong, China
关键词	Biomedical engineering Graph theory Image processing Mobile robots Navigation Robot programming Autonomous navigation Complex environments Local path-planning Localization and navigation Path planning method Path-planning algorithm Real time path planning Surrounding environment
DOI	10.1109/CISP-BMEI.2016.7852815
页码	781-785
英文摘要	The research in the field of the localization and navigation of mobile robot is becoming more and more significant. Among them, the local real-time path planning for robot autonomous navigation in complex environment is particularly important. However, the current local path planning algorithms are all planning the local path in the same plan-scope. Sometimes, this situation leads to a waste of time and computing resources. Therefore, in this article, a new path planning method called the variable planning size (VPS) for robot in static workspace is presented. In this paper, the graph theory is the basic algorithm of path planning. In addition, the mobile robot using this algorithm could autonomous to decide the planning scope according to the complexity of the surrounding environment. Therefore, in a complex environment, the robot is more efficient to find a local optimal path. As a result, the VPS path planning algorithm can plan out of the local optimal path preferably. © 2016 IEEE.
会议录	Proceedings - 2016 9th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2016
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	英语
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/117217]
专题	兰州理工大学
作者单位	College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China
推荐引用方式 GB/T 7714	Wan, Teng,Li, Ce,Zhang, Yachao. A local path planning algorithm under the variable planning size[C]. 见:. Datong, China. October 15, 2016 - October 17, 2016.