An Optimal and Safe Path Planning for Mobile Robot in Home Environment

被引：0

作者：

Xue, Yinghua ^{[1
]}

Xu, Tianbing ^{[1
]}

机构：

[1] Shandong Univ Finance, Sch Comp & Informat Engn, Jinan 250014, Peoples R China

来源：

ADVANCED RESEARCH ON COMPUTER SCIENCE AND INFORMATION ENGINEERING, PT I | 2011年 / 152卷

关键词：

Mobile robot; Path Planning; Particle Swarm Optimization; A* Algorithm;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In order to obtain a safer path in home environment, a modified particle swarm optimization algorithm is first introduced in the paper to get an initial global optimized path. Then an improved A* algorithm is proposed to avoid obstacles based on dynamic danger degree map. The local layer can get multi-mode information of obstacles, and create dynamic danger degree map of the environment. Finally, the head-for-goal strategy is designed to help the mobile robot arrive at the destination with lowest cost. Experiments demonstrate the feasibility and safety of the proposed system.

引用

页码：442 / 447

页数：6

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