Real-Time Robot Path Planning via the Distance-Propagating Dynamic System with Obstacle Clearance

dc.contributor.authorWillms, Allan R.
dc.contributor.authorYang, Simon X.
dc.date.accessioned2013-10-18T18:07:09Z
dc.date.available2013-10-18T18:07:09Z
dc.date.issued2008
dc.degree.departmentDepartment of Mathematics and Statisticsen
dc.description.abstractAn efficient grid-based distance-propagating dynamic system is proposed for real-time robot path planning in dynamic environments which incorporates safety margins around obstacles using local penalty functions. The path through which the robot travels minimizes the sum of the current known distance to a target and the cumulative local penalty functions along the path. The algorithm is similar to \tsup{D}{$\ast$} but does not maintain a sorted queue of points to update. The resulting gain in computational speed is offset by the need to update all points in turn. Consequently, in situations where many obstacles and targets are moving at substantial distances from the current robot location, this algorithm is more efficient than \tsup{D}{$\ast$}. The properties of the algorithm are demonstrated through a number of simulations. A sufficient condition for capture of a target is provided.en_US
dc.identifier.urihttp://hdl.handle.net/10214/7592
dc.language.isoen_USen_US
dc.publisherIEEE, Transactions on Systems, Man, and Cybernetics Ben_US
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Canada*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/ca/*
dc.subjectdynamic systemen_US
dc.subjectpath planningen_US
dc.subjectsafety marginsen_US
dc.subjectobstacle clearanceen_US
dc.subjectmobile roboten_US
dc.subjectreal-time navigationen_US
dc.subjectdynamic environmenten_US
dc.subjectdynamic programmingen_US
dc.titleReal-Time Robot Path Planning via the Distance-Propagating Dynamic System with Obstacle Clearanceen_US
dc.typeArticleen_US
dcterms.relationIEEE Trans. Syst., Man, Cybern. B, Cybern. 38 (3) (2008) 884-893.

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