Local Path Planning Algorithm Under the Variable Planning Size

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	Local Path Planning Algorithm Under the Variable Planning Size
	Wan, Teng; Li, Ce; Zhang, Yachao
	2016
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.
会议录	2016 9TH INTERNATIONAL CONGRESS ON IMAGE AND SIGNAL PROCESSING, BIOMEDICAL ENGINEERING AND INFORMATICS (CISP-BMEI 2016)
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
资助项目	National Natural Science Foundation (NSFC) of China[61365003] ; Gansu Province Basic Research Innovation Group Project[1506RJIA031] ; China Postdoctoral Science Foundation[2014M550494]
WOS研究方向	Engineering
WOS记录号	WOS:000405706400143
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/36369]
专题	新能源学院电气工程与信息工程学院
通讯作者	Wan, Teng
作者单位	Lanzhou Univ Technol, Coll Elect Informat Engn, Lanzhou, Peoples R China
推荐引用方式 GB/T 7714	Wan, Teng,Li, Ce,Zhang, Yachao. Local Path Planning Algorithm Under the Variable Planning Size[C]. 见:.