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The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study


Čikeš, Mijo; Đakulović, Marija; Petrović, Ivan
The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study // Proceedings of the XXIII. International Symposium on Information, Communication and Automation Technologies / Salihbegović, Adnan ; Velagić, Jasmin ; Šupić, Haris ; Sadžak, Aida (ur.).
Sarajevo, 2011. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study

Autori
Čikeš, Mijo ; Đakulović, Marija ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the XXIII. International Symposium on Information, Communication and Automation Technologies / Salihbegović, Adnan ; Velagić, Jasmin ; Šupić, Haris ; Sadžak, Aida - Sarajevo, 2011

ISBN
978-1-4577-0745-2

Skup
XXIII. International Symposium on Information, Communication and Automation Technologies

Mjesto i datum
Sarajevo, Bosna i Hercegovina, 27-29.10.2011.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Path planning; graph search; mobile robots

Sažetak
This paper presents a comparative study of three algorithms that use occupancy grid map of environments to find a path for a mobile robot from the given start to goal – the D*, Two Way D* (TWD*) and E*. All three algorithms have ability of dynamic replanning in case of changes in the environment. The D* algorithm produces a path consisted of line segments that have discrete transitions between cell edges – a multiple of 45. This path is hard to follow by a mobile robot. The TWD* and E* algorithms produce more natural paths with continuous headings of the path line segments. The criteria for comparison were the path characteristics, the time of execution and the number of iterations of the algorithms’ main while loop. The algorithms were verified both by simulation 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