| Title |
Path Planning Based on Spline D* for Mobile-robot |
| Authors |
유희락(Ryu, Hee-Rack) ; 최윤원(Choi, Yun-Won) ; Saitov-Sinl, Dilshat(Saitov-Sinl, Dilshat) ; 이석규(Lee, Suk-Gyu) |
| DOI |
https://doi.org/10.5370/KIEE.2014.63.1.092 |
| Keywords |
D* ; Path planning ; Hermite spline ; Mobile-robot |
| Abstract |
This paper proposes a hermite spline based D* algorithm for effective path planning of mobile robot to improve the detecting speed. In conventional path planning research, a robot is supposed to pass through predetermined centers of grid partitions of area. However it doesn't guarantee the optimal path during its navigation. In addition, a robot is hard to avoid obstacles effectively. The proposed algorithm in this paper makes use of stochastic characteristics of nonholonomic mobile robot and estimation of shortest path to curvature movement of the robot. The performance evaluation of the improved spline D* algorithm performed through simulation shows its effectiveness. Moreover, the experiment verifies that a robot can find the shortest path by building the curve paths while it is moving on the path in spline. |