Title :
Hierarchical path planning with hexagonal decomposition
Author :
Hou, Edwin S H ; Zheng, Dan
Author_Institution :
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
Abstract :
An algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented
Keywords :
mobile robots; planning (artificial intelligence); artificial potential field; find-path problem; hexagonal decomposition; hierarchical cell decomposition; mobile robot; path planning; Computational complexity; Computer simulation; Educational robots; Humans; Mobile robots; Orbital robotics; Path planning;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169819
