Voronoi Diagram based Collision-free A∗ Algorithm for Mobile Vehicle in Complex Dynamic Environment

Shi Lin Ho, Jing Kai Lin, Kuan Yu Chou*, Yon Ping Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Path planning is the research focus of robot development and design. As technology advances, mobile vehicles for various jobs are used in different environment. Therefore, it is an important research to plan an optimal path that is able to avoid obstacles and consider time and distance to reach the goal. In this paper, to improve the efficiency of mobile vehicle path planning, the Voronoi diagram is used to describe the map, and the shortest path tree is built by Dijkstra algorithm. Re-planning path task is activated when moving obstacles approach the mobile vehicle. The collision-free A∗ algorithm that take account of the directions and positions of the moving obstacles will effectively avoid collisions and find optimal path according to the shortest path tree. In the simulation results, there are several random moving obstacles in the map to simulate the complex dynamic environment. The mobile vehicle could reach the goal without any collisions, and only add a small amount of time and distance.

Original languageEnglish
Title of host publicationProceedings - 2022 IEEE International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages429-430
Number of pages2
ISBN (Electronic)9781665470506
DOIs
StatePublished - 2022
Event2022 IEEE International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2022 - Taipei, Taiwan
Duration: 6 Jul 20228 Jul 2022

Publication series

NameProceedings - 2022 IEEE International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2022

Conference

Conference2022 IEEE International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2022
Country/TerritoryTaiwan
CityTaipei
Period6/07/228/07/22

Keywords

  • algorithm
  • collision-free A
  • dynamic path planning
  • mobile vehicle
  • Voronoi diagram

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