Path Planning Algorithm with Thinning Preprocess

DOI

10.2991/ceis-16.2016.6How to use a DOI?

Keywords

path planning; A*; Zhang's fast parallel thinning algorithm

Abstract

This paper proposes path planning algorithm with thinning preprocess to increase the efficiency of path planning as well as reserving the key points (the start point and the target point). A modified Zhang's fast parallel thinning algorithm is proposed with the key points (start point, the target point) reserved, and the A* algorithm is taken as an example for path planning on the grid map. Simulation results show that the algorithm in this paper greatly decreases the search time of A* algorithm while ensuring a reasonable path for mobile robots.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wang Yang
AU  - He-Gen Xu
PY  - 2016/11
DA  - 2016/11
TI  - Path Planning Algorithm with Thinning Preprocess
BT  - Proceedings of the 2016 International Conference on Computer Engineering and Information Systems
PB  - Atlantis Press
SP  - 27
EP  - 30
SN  - 2352-538X
UR  - https://doi.org/10.2991/ceis-16.2016.6
DO  - 10.2991/ceis-16.2016.6
ID  - Yang2016/11
ER  -