Safe Global Path Planning of Mobile Robots Based on Modified A* Algorithm

被引：6
|
作者：
Park, Jong-Hun [1 ]
No, Jin-Hong [1 ]
Huh, Uk-Youl [1 ]
机构：
[1] Inha Univ, Inchon, South Korea
来源：
8TH INTERNATIONAL CONFERENCE ON ROBOTIC, VISION, SIGNAL PROCESSING & POWER APPLICATIONS: INNOVATION EXCELLENCE TOWARDS HUMANISTIC TECHNOLOGY | 2014年 / 291卷
关键词：
Safe global path planning; Modified A* algorithm; Safety cost; Risk area;
D O I：
10.1007/978-981-4585-42-2_12
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This study evaluated Safe Global Path Planning (SGPP) for mobile robot navigation. This model considers the potential risk as a safety index, whereas most studies of global path planning algorithms focused on the time and distance cost. Robots can encounter difficulties in reaching a target point due to the limited field of view behind obstacles. This paper presents a modified A* algorithm to reduce the collision risk by considering such occluded environments. According to the simulation results, the presented algorithm showed better performance in terms of safety and navigation time than the conventional A* algorithm.
引用
收藏
页码：99 / 105
页数：7
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