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

 

Conference paper
The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study
Proceedings of the XXIII. International Symposium on Information, Communication and Automation Technologies, Sarajevo, Bosnia and Herzegovina, 27.-29.10., pp.8 pages, 2011
ABSTRACT:
This paper presents a comparative study of three algorithms that use occupancy grid map of environments to find a path for a mobile robot from the given start to goal – the D*, Two Way D* (TWD*) and E*. All three algorithms have ability of dynamic replanning in case of changes in the environment. The D* algorithm produces a path consisted of line segments that have discrete transitions between cell edges – a multiple of 45 deg. This path is hard to follow by a mobile robot. The TWD* and E* algorithms produce more natural paths with continuous headings of the path line segments. The criteria for comparison were the path characteristics, the time of execution and the number of iterations of the algorithms’ main while loop. The algorithms were verified both by simulation and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.
BibTeX entry:
@inproceedings \{Cikes2011_518,
author = \{\v{C}ike\v{s}, M. AND Seder, M. AND Petrovi\'{c}, I.},
title = \{The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study},
booktitle = {Proceedings of the XXIII. International Symposium on Information, Communication and Automation Technologies, Sarajevo, Bosnia and Herzegovina, 27.-29.10.},
pages = \{8 pages},
year = \{2011}
}

 

 

 

 

 

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