Hierarchical Optimal Time Path Planning Method for a Autonomous Mobile Robot using A* Algorithm

Title
Hierarchical Optimal Time Path Planning Method for a Autonomous Mobile Robot using A* Algorithm
Authors
권민혁임헌영강연식김창환박귀태
Keywords
Optimal Path Planning; Mobile Robot; A* algorithm; Obstacle Avoidance
Issue Date
2010-10
Publisher
International Conference on Control, Automation and Systems 2010
Citation
, 1997-2001
Abstract
This paper presents a hierarchical optimal time path planning method which can handle time constraints of the optimal path in complex and dynamic environments. The optimal time path minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle. The path generation problem is divided into three sub-problems. The first is to generate the smooth global path using the A* algorithm. The second is to solve the optimization problem which computes the maximum velocity and the time permitted for a robot in the obstacle zone. The third is to adjust the time interval for obtaining the shortest path using the motion information of moving obstacles and the maximum velocity of a robot. To show the validity and effectiveness of the proposed method, realistic simulation is performed.
URI
http://pubs.kist.re.kr/handle/201004/38878
Appears in Collections:
KIST Publication > Conference Paper
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