Kwon, M. Kang, Y. Kim, C. Park, G. 2024-01-20T17:03:05Z 2024-01-20T17:03:05Z 2021-09-02 2011-05 1976-5622 https://pubs.kist.re.kr/handle/201004/130372 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. ？ ICROS 2011. Korean Detour paths Dynamic environments Hierarchical trajectory Maximum velocity Moving obstacles Optimal path planning Optimization problems Path generation Planning method Realistic simulation Shortest path Velocity profiles Waiting-time Algorithms Collision avoidance Mobile robots Motion planning Optimization Velocity A Path & velocity profile planning based on a* algorithm for dynamic environment Article 10.5302/J.ICROS.2011.17.5.405 1 Journal of Institute of Control, Robotics and Systems, v.17, no.5, pp.405 - 411 Journal of Institute of Control, Robotics and Systems 17 5 405 411 scopus kci ART001549176 2-s2.0-84861148666 Article Detour paths Dynamic environments Hierarchical trajectory Maximum velocity Moving obstacles Optimal path planning Optimization problems Path generation Planning method Realistic simulation Shortest path Velocity profiles Waiting-time Algorithms Collision avoidance Mobile robots Motion planning Optimization Velocity A* algorithm Mobile robot Obstacle avoidance Optimal path planning