A Path & Velocity Profile Planning Based on A* Algorithm for Dynamic Environment

Title
A Path & Velocity Profile Planning Based on A* Algorithm for Dynamic Environment
Authors
권민혁강연식김창환박귀태
Keywords
optimal path planning; mobile robot; A* algorithm; obstacle avoidance
Issue Date
2011-05
Publisher
제어·로봇·시스템학회논문지 (Journal of Institute of Control, Robotics and Systems Engineering)
Citation
VOL 17, NO 5, 405-411
Abstract
This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using A* algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.
URI
http://pubs.kist.re.kr/handle/201004/41170
ISSN
1225-9845
Appears in Collections:
KIST Publication > Article
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE