Title:
|
Real-Time Robot Path Planning via the Distance-Propagating Dynamic System with Obstacle Clearance |
Author:
|
Willms, Allan R.; Yang, Simon X.
|
Abstract:
|
An 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. |
URI:
|
http://hdl.handle.net/10214/7592
|
Date:
|
2008 |
Rights:
|
Attribution-NonCommercial-NoDerivs 2.5 Canada |
Terms of Use:
|
All items in the Atrium are protected by copyright with all rights reserved unless otherwise indicated. |
Related Publications:
|
IEEE Trans. Syst., Man, Cybern. B, Cybern. 38 (3) (2008) 884-893. |