Proceedings of the 2017 5th International Conference on Frontiers of Manufacturing Science and Measuring Technology (FMSMT 2017)

A Path Planning Method for Indoor Robots Based on Partial & Global A-Star Algorithm

Authors
Kang-le Wang, Shu-wen Dang, Fa-jiang He, Peng-zhan Cheng
Corresponding Author
Kang-le Wang
Available Online April 2017.
DOI
https://doi.org/10.2991/fmsmt-17.2017.83How to use a DOI?
Keywords
A-Star Algorithm; Indoor Robot; Path Planning; LIDAR
Abstract
Considering the traditional A*algorithm being difficult to satisfy the limitation of the indoor environment space of the robot. A partial and global A-Star (P&G-A*) algorithm based on the motion model of indoor robot is proposed. LIDAR sensing system is employed into P&G-A* algorithm to achieve both local awareness and global optimization. The real environment data is adopted for simulated experiments, and experimental results proved that the path planning time is reduced 13.31% when comparing with traditional algorithm, and actual driving distance decrease by 15.71%. Furthermore, the robot trajectory is more smoothly after P&G-A* is applied
Open Access
This is an open access article distributed under the CC BY-NC license.

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Cite this article

TY  - CONF
AU  - Kang-le Wang
AU  - Shu-wen Dang
AU  - Fa-jiang He
AU  - Peng-zhan Cheng
PY  - 2017/04
DA  - 2017/04
TI  - A Path Planning Method for Indoor Robots Based on Partial & Global A-Star Algorithm
BT  - Proceedings of the 2017 5th International Conference on Frontiers of Manufacturing Science and Measuring Technology (FMSMT 2017)
PB  - Atlantis Press
SP  - 395
EP  - 398
SN  - 2352-5401
UR  - https://doi.org/10.2991/fmsmt-17.2017.83
DO  - https://doi.org/10.2991/fmsmt-17.2017.83
ID  - Wang2017/04
ER  -