Path planning with obstacle avoidance based on visibility binary tree algorithm

被引：67

作者：

Rashid, Abdulmuttalib Turky ^{[1
]}

Ali, Abduladhem Abdulkareem ^{[2
]}

Frasca, Mattia ^{[3
]}

Fortuna, Luigi ^{[3
]}

机构：

[1] Univ Basrah, Dept Elect Engn, Basrah, Iraq

[2] Univ Basrah, Dept Comp Engn, Basrah, Iraq

[3] Univ Catania, Fac Engn, DIEEI, Catania, Italy

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 12期

关键词：

Path planning; Obstacle avoidance; Visibility graph; Bresenham algorithm;

D O I：

10.1016/j.robot.2013.07.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel method for robot navigation in dynamic environments, referred to as visibility binary tree algorithm, is introduced. To plan the path of the robot, the algorithm relies on the construction of the set of all complete paths between robot and target taking into account inner and outer visible tangents between robot and circular obstacles. The paths are then used to create a visibility binary tree on top of which an algorithm for shortest path is run. The proposed algorithm is implemented on two simulation scenarios, one of them involving global knowledge of the environment, and the other based on local knowledge of the environment. The performance are compared with three different algorithms for path planning. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：1440 / 1449

页数：10

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