Pregled bibliografske jedinice broj: 428595
Integration of Focused D* and Witkowski's algorithm for path planning and replanning
Integration of Focused D* and Witkowski's algorithm for path planning and replanning // Proceedings of the 4th European Conference on Mobile Robots / Petrović, Ivan ; Lilienthal, Achim J. (ur.).
Zagreb: Hrvatsko društvo za komunikacije, računarstvo, elektroniku, mjerenja I automatiku (KoREMA), 2009. str. 99-104 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 428595 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Integration of Focused D* and Witkowski's algorithm for path planning and replanning
Autori
Seder, Marija ; Petrović Ivan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 4th European Conference on Mobile Robots
/ Petrović, Ivan ; Lilienthal, Achim J. - Zagreb : Hrvatsko društvo za komunikacije, računarstvo, elektroniku, mjerenja I automatiku (KoREMA), 2009, 99-104
ISBN
978-953-6037-54-4
Skup
4th European Conference on Mobile Robots
Mjesto i datum
Mlini, Hrvatska; Dubrovnik, Hrvatska, 23.09.2009. - 25.09.2009
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Graph search; path planning; Euclidean shortest path; mobile robotics
Sažetak
The paper presents a new path planning and replanning algorithm based on two-dimensional occupancy grid map of the environment, which integrates the focused D* (FD*) algorithm and Witkowski's algorithm. The FD* algorithm is used for fast replanning and Witkowski's algorithm is used for generating all optimal paths in the grid map. Our algorithm finds the shortest path in the geometrical space based on the grid map calculations. The path optimality is proved. Path planning is used together with Dynamic Window local obstacle avoidance algorithm to produce smooth robot motion. The algorithms were tested using Pioneer 3DX mobile robot equipped with a laser range finder.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
