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http://dx.doi.org/10.13067/JKIECS.2014.9.8.907

A heuristic path planning method for robot working in an indoor environment  

Hyun, Woong-Keun (호남대학교 전자공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.9, no.8, 2014 , pp. 907-914 More about this Journal
Abstract
A heuristic search algorithm is proposed to plan a collision free path for robots in an indoor environment. The proposed algorithm is to find a collision free path in the gridded configuration space by proposed heuristic graph search algorithm. The proposed algorithm largely consists of two parts : tunnel searching and path searching in the tunnel. The tunnel searching algorithm finds a thicker path from start grid to goal grid in grid configuration space. The tunnel is constructed with large grid defined as a connected several minimum size grids in grid-based configuration space. The path searching algorithm then searches a path in the tunnel with minimum grids. The computational time of the proposed algorithm is less than the other graph search algorithm and we analysis the time complexity. To show the validity of the proposed algorithm, some numerical examples are illustrated for robot.
Keywords
Heuristic-Method; Path-Planning; Gri; d; Graph Search;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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