Title :
Design of path planner of robots based on WFD* algorithm
Author :
Zhang, Xiaoling ; Tian, Wei ; Gu, Yanzi
Author_Institution :
Sch. of Electron. Inf. Eng., Henan Univ. of Sci. & Technol., Luoyang, China
Abstract :
Basing on the theory of WF(Wave-Front), the D* algorithm is modified to improve the adaptability of robots in dynamic environments, and the dynamic subgoal A* algorithm is employed to construct the path planner of robot. Simulation results show that the proposed path planner is provided with optimal global paths and operation efficiency is much higher, and it has good real-time in path re-planning and fast reaction in the changing environments.
Keywords :
mobile robots; path planning; WFD* algorithm; dynamic subgoal A* algorithm; operation efficiency; optimal global path; path replanning; robot adaptability; wavefront theory; Algorithm design and analysis; Automation; Delta modulation; Heuristic algorithms; Mobile robots; Path planning; WFD*; dynamic subgoal A*; path planning; robot;
Conference_Titel :
Computer Science and Service System (CSSS), 2011 International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4244-9762-1
DOI :
10.1109/CSSS.2011.5974677
