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A hybrid approach for mobile robot path planning in dynamic environments
Du ZJ(杜振军); Qu DK(曲道奎); Xu F(徐方); Xu DG(徐殿国)
Department其他
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
Conference DateDecember 15-18, 2007
Conference PlaceSanya, China
Author of SourceIEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
Source Publication2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
PublisherIEEE
Publication PlaceNEW YORK
2007
Pages1058-1063
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083411464279
WOS IDWOS:000257065801019
Contribution Rank1
ISBN978-1-4244-1761-2
KeywordMobile Robot Path Planning Dynamic Environments
AbstractA strategy based on both the benefit of global path planer and local path planner and the benefit of deliberate path planner and reactive path planner is proposed for indoor mobile robot navigation in unstructured and dynamic environments. Global path planner uses A* method to generate a series of sub-goal points to the target point, and local path planner adopts an improved potential field method to smooth the path between the pre-planned sub-goal points. This method can not only effectively generate a global optimal path using the known information, but also handle the unknown obstacles in the dynamic environments in time. The satisfactory performance of our algorithm is validated via simulations and realistic operating conditions.
Language英语
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7655
Collection其他
Affiliation1.Graduate School, Chinese Academy of Sciences, Beijing, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
3.Department of Electrical Engineering, Harbin Institute of Technology, Harbin, China
Recommended Citation
GB/T 7714
Du ZJ,Qu DK,Xu F,et al. A hybrid approach for mobile robot path planning in dynamic environments[C]//IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn. NEW YORK:IEEE,2007:1058-1063.
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