[Journal papers] [Conference papers] [PhD Theses] [MSc Theses]

 

Conference paper
Integration of Focused D* and Witkowski's algorithm for path planning and replanning
Proceedings of the 4th European Conference on Mobile Robots, Mlini/Dubrovnik, Croatia, 23-25.09, pp.99-104, 2009
ABSTRACT:
The paper presents a new path planning and replanning algorithm based on two-dimensional occupancy grid map of the environment, which integrates the focused D* (FD*) algorithm and Witkowski`s algorithm. The FD* algorithm is used for fast replanning and Witkowski`s algorithm is used for generating all optimal paths in the grid map. Our algorithm finds the shortest path in the geometrical space based on the grid map calculations. The path optimality is proved. Path planning is used together with Dynamic Window local obstacle avoidance algorithm to produce smooth robot motion. The algorithms were tested using Pioneer 3DX mobile robot equipped with a laser range finder.
BibTeX entry:
@inproceedings \{Seder2009_418,
author = \{Seder, M. AND Petrovi\'{c}, I.},
title = \{Integration of Focused D* and Witkowski's algorithm for path planning and replanning},
booktitle = {Proceedings of the 4th European Conference on Mobile Robots, Mlini/Dubrovnik, Croatia, 23-25.09},
pages = \{99-104},
year = \{2009}
}

 

 

 

 

 

Home
About Us
People
Visitors
Groups
Projects
Publications
Software
Courses
Laboratory
Seminars
Students
Matlab
Alumni
Links