مشاهده مشخصات مقاله
Planning a Robust Path for Mobile Robots in Dynamic Environment
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نویسنده (ها) |
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Mahmood Naderan-Tahan
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Mohammad Taghi Manzuri-Shalmani
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مربوط به کنفرانس |
چهاردهمین کنفرانس بینالمللی سالانه انجمن کامپیوتر ایران |
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چکیده |
In this paper, we propose a new method for mobile
robot path planning in dynamic environment when the
trajectories of obstacles are unknown. Our algorithm
first utilizes a global approach called clearance based
probabilistic roadmap method to find a suitable path
and then locally apply evolutionary algorithm to keep
the structure of the path when obstacles collide with
the path. As a result, the path will act like an elastic
band. To reach real time applicability, a light fitness
function is proposed compare to other genetic
algorithms to reduce the computation time needed for
calculating and repairing path. Simulation results
show that our method not only can keep the original
structure of path, but also repair operation is done
quickly even in the scenes with many obstacles. |
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قیمت |
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برای اعضای سایت : ۱٠٠,٠٠٠ ریال
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برای دانشجویان عضو انجمن : ۲٠,٠٠٠ ریال
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برای اعضای عادی انجمن : ۴٠,٠٠٠ ریال
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