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Two-way D* algorithm for path planning and replanning


Đakulović, Marija; Petrović, Ivan
Two-way D* algorithm for path planning and replanning // Robotics and autonomous systems, 59 (2011), 5; 329-342 doi:10.1016/j.robot.2011.02.007 (međunarodna recenzija, članak, znanstveni)


Naslov
Two-way D* algorithm for path planning and replanning

Autori
Đakulović, Marija ; Petrović, Ivan

Izvornik
Robotics and autonomous systems (0921-8890) 59 (2011), 5; 329-342

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Graph search; Path planning; Euclidean shortest path; Mobile robotics

Sažetak
Inspired by the Witkowski's algorithm, we introduce a novel path planning and replanning algorithm - the two-way D* (TWD*) algorithm - based on a two-dimensional occupancy grid map of the environment. Unlike the Witkowski's algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD* algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD* algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D* algorithm as it consists of straight line segments with continuous headings. The TWD* algorithm is tested and compared to the D* and Witkowski's algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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