Path Planning with Modified a Star Algorithm for a Mobile Robot

This article deals with path planning of a mobile robot based on a grid map. Essential assumption for path planning is a mobile robot with functional and reliable reactive navigation and SLAM. Therefore, such issues are not addressed in this article. The main body of the article introduces several m...

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Vydáno v:Procedia engineering Ročník 96; s. 59 - 69
Hlavní autoři: Duchoň, František, Babinec, Andrej, Kajan, Martin, Beňo, Peter, Florek, Martin, Fico, Tomáš, Jurišica, Ladislav
Médium: Journal Article
Jazyk:angličtina
Vydáno: Elsevier Ltd 2014
Témata:
A algorithm
Basic Theta
Jump Point Search
Path planning
Phi
A algorithm
Phi
Path planning
Basic Theta
Jump Point Search
ISSN:1877-7058, 1877-7058
On-line přístup:Získat plný text
Tagy: Přidat tag
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Abstract This article deals with path planning of a mobile robot based on a grid map. Essential assumption for path planning is a mobile robot with functional and reliable reactive navigation and SLAM. Therefore, such issues are not addressed in this article. The main body of the article introduces several modifications (Basic Theta*, Phi*) and improvements (RSR, JPS) of A star algorithm. These modifications are focused primarily on computational time and the path optimality. Individual modifications were evaluated in several scenarios, which varied in the complexity of environment. On the basis of these evaluations, it is possible to choose path planning method suitable for individual scenario.
AbstractList This article deals with path planning of a mobile robot based on a grid map. Essential assumption for path planning is a mobile robot with functional and reliable reactive navigation and SLAM. Therefore, such issues are not addressed in this article. The main body of the article introduces several modifications (Basic Theta*, Phi*) and improvements (RSR, JPS) of A star algorithm. These modifications are focused primarily on computational time and the path optimality. Individual modifications were evaluated in several scenarios, which varied in the complexity of environment. On the basis of these evaluations, it is possible to choose path planning method suitable for individual scenario.
Author Babinec, Andrej
Florek, Martin
Jurišica, Ladislav
Beňo, Peter
Kajan, Martin
Duchoň, František
Fico, Tomáš
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  givenname: František
  surname: Duchoň
  fullname: Duchoň, František
  email: frantisek.duchon@stuba.sk
  organization: First affiliation, Address, City and Postcode, Country
– sequence: 2
  givenname: Andrej
  surname: Babinec
  fullname: Babinec, Andrej
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– sequence: 3
  givenname: Martin
  surname: Kajan
  fullname: Kajan, Martin
  organization: First affiliation, Address, City and Postcode, Country
– sequence: 4
  givenname: Peter
  surname: Beňo
  fullname: Beňo, Peter
  organization: First affiliation, Address, City and Postcode, Country
– sequence: 5
  givenname: Martin
  surname: Florek
  fullname: Florek, Martin
  organization: First affiliation, Address, City and Postcode, Country
– sequence: 6
  givenname: Tomáš
  surname: Fico
  fullname: Fico, Tomáš
  organization: First affiliation, Address, City and Postcode, Country
– sequence: 7
  givenname: Ladislav
  surname: Jurišica
  fullname: Jurišica, Ladislav
  organization: First affiliation, Address, City and Postcode, Country
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10.1177/0278364911406562
10.1007/978-3-642-03986-7_34
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Phi
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SubjectTerms A algorithm
Basic Theta
Jump Point Search
Path planning
Phi
Title Path Planning with Modified a Star Algorithm for a Mobile Robot
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