The D++ algorithm: Real-time and collision-free path-planning for mobile robot

Pi-Ying Cheng*, Pin Jyun Chen

*此作品的通信作者

    研究成果: Conference contribution同行評審

    3 引文 斯高帕斯(Scopus)

    摘要

    This paper proposed an improved algorithm that we call "D++" which can be applied to real-time and collision-free path -planning to solve some problems of common methods at present. D++ algorithm combines the Dijkstra's algorithm with sensor-based method so that D++ algorithm can deal with problems of unknown, large, complex, or dynamic environment, and need only local environmental information initially to find a shortest path. In the later of this article, we demonstrated some examples to show that D++ algorithm is very efficient for path-planning and also very practicable on real mobile robot system.

    原文English
    主出版物標題IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    頁面3611-3616
    頁數6
    DOIs
    出版狀態Published - 1 十二月 2010
    事件23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
    持續時間: 18 十月 201022 十月 2010

    出版系列

    名字IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

    Conference

    Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    國家/地區Taiwan
    城市Taipei
    期間18/10/1022/10/10

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