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

 

Journal paper
Two-way D* algorithm for path planning and replanning
Robotics and autonomous systems (0921-8890) , Vol.59 (5), pp.329-342, doi:10.1016/j.robot.2011.02.007, 2011
ABSTRACT:
Inspired by the Witkowski's algorithm, we introduce a novel path planning and replanning algorithm - the two-way D* (TWD*) algorithm - based on a two-dimensional occupancy grid map of the environment. Unlike the Witkowski's algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD* algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD* algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D* algorithm as it consists of straight line segments with continuous headings. The TWD* algorithm is tested and compared to the D* and Witkowski's algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.
BibTeX entry:
@article \{Seder2011_486,
author = \{Seder, M. AND Petrovi\'{c}, I.},
title = \{Two-way D* algorithm for path planning and replanning},
journal = {Robotics and autonomous systems (0921-8890) },
volume = \{59 (5)},
pages = \{329-342, doi:10.1016/j.robot.2011.02.007},
year = \{2011}
}
No file available for download

 

 

 

 

 

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