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http://ntour.ntou.edu.tw:8080/ir/handle/987654321/25816
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| Title: | Optimal Path Planning for Mobile Robot Navigation |
| Authors: | Gene Eu Jan;Ki-Yin Chang;Ian Parberry |
| Contributors: | NTOU:Department of Merchant Marine
國立臺灣海洋大學:商船學系 |
| Keywords: | λ-geometry maze router;path planning;piano
mover’s problem |
| Date: | 2008-08
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| Issue Date: | 2011-10-20T08:32:32Z
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| Publisher: | IEEE/ASME Transactions on Mechatronics |
| Abstract: | Abstract:Some optimal path planning algorithms for navigating mobile rectangular robot among obstacles and weighted regions are presented. The approach is based on a higher geometry maze routing algorithm. Starting from a top view of a workspace with obstacles, the so-called free workspace is first obtained by virtually expanding the obstacles in the image. After that, an 8-geomerty maze routing algorithm is applied to obtain an optimal collision-free path with linear time and space complexities. The proposed methods cannot only search an optimal path among various terrains but also find an optimal path for the 2-D piano mover's problem with 3 DOF. Furthermore, the algorithm can be easily extended to the dynamic collision avoidance problem among multiple autonomous robots or path planning in the 3-D space. |
| Relation: | 13(4), pp.451-460 |
| URI: | http://ntour.ntou.edu.tw/handle/987654321/25816 |
| Appears in Collections: | [商船學系] 期刊論文
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