A dynamic path planning method for wheeled mobile robots (Dyna-bug).
Article Sidebar
Main Article Content
Abstract
Abstract
In this study, a hybrid path-planning scheme is presented. The main contribution of this paper is merging the static grid costs of the global map and the immediate environmental structure of the local map. The stationary condition of the map and the instant local goal is weighted by certain coefficients in order to determine the next move of the wheeled mobile robot (WMR). Thus, the cost function is defined in terms of the grid costs and the dynamic parameters. The main assumption is that the WMR on which this scheme is executed must be equipped with a field scanning sensor. The sensor readings in each processing cycle are pre-processed before plugging in the cost function. The passages in the local map are extracted from the sensor data, then the optimal collision-free point lying on the passages is obtained via the cost function.
Keywords: Path planning, collision avoidance, mobile robot.
Downloads
Article Details
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (SeeThe Effect of Open Access).