National Taiwan Ocean University Institutional Repository:Item 987654321/37017
English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 26999/38800
造访人次 : 2401870      在线人数 : 58
RC Version 4.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
搜寻范围 进阶搜寻

jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/37017

题名: A new maze routing approach for path planning of a mobile robot
作者: Gene Eu Jan;Ki-Yin Chang;Parberry, I
贡献者: 國立臺灣海洋大學:商船學系
关键词: Path planning;h-geomehy;maze routing
日期: 2003-07
上传时间: 2015-12-25T02:55:53Z
出版者: Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
摘要: Abstract:A new path planning approach for a mobile robot among obstacles of arbitrary shape is presented. This 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, the 8-geometry maze routing algorithm is applied to obtain a shortest collision-free path. The proposed method is not only able to search a shortest path with rotation scheme but also capable to rotate the robot configuration to pass a narrow passage intelligently. The time complexity of the algorithm is O(N), where N is the number of pixels in the free workspace. Furthermore, for many researchers who work on dynamic collision avoidance for multiple autonomous robots and optimal path searching among various terrains (weighted regions), the concept of this algorithm can be applied to solve these problems.
關聯: pp.552-557
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/37017
显示于类别:[商船學系] 演講及研討會

文件中的档案:

档案 描述 大小格式浏览次数
index.html0KbHTML101检视/开启


在NTOUR中所有的数据项都受到原著作权保护.

 


著作權政策宣告: 本網站之內容為國立臺灣海洋大學所收錄之機構典藏,無償提供學術研究與公眾教育等公益性使用,請合理使用本網站之內容,以尊重著作權人之權益。
網站維護: 海大圖資處 圖書系統組
DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - 回馈