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

DOI

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

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  - 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  - 10.2991/fmsmt-17.2017.83
ID  - Wang2017/04
ER  -