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http://dx.doi.org/10.5370/KIEE.2014.63.1.092

Path Planning Based on Spline D* for Mobile-robot  

Ryu, Hee-Rack (Dept. of Robot Engineering, Yeungnam University)
Choi, Yun-Won (Electronics and Telecommunications Research Institute)
Saitov-Sinl, Dilshat (Dept. of Electrical Engineering, Yeungnam University)
Lee, Suk-Gyu (Dept. of Electrical Engineering, Yeungnam University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.63, no.1, 2014 , pp. 92-98 More about this Journal
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.
Keywords
D*; Path planning; Hermite spline; Mobile-robot;
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