Robot Path Planning in Impedance Networks

Author

Liu, Zuojun ; Pang, Sufang ; Gong, Siyuan ; Yang, Peng

Author_Institution

Dept. of Autom., Hebei Univ. of Technol., Tianjin

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9109

Lastpage

9113

Abstract

The analogue between real physical space and multi-grid impedance networks circuit is firstly analyzed in this paper. The phenomenon that current flows along the branch with lower impedance in circuit is fundamentally similar to the aim of path planning for a shorter path with better feasibility in the map. The planner based on impedance networks can search out a short and wide path with light traffic jam for robots and also overcome the shortcoming of local optimum in some path planners. The theoretical analysis and simulation prove the feasibility and advantage of this method

Keywords

combinatorial mathematics; control engineering computing; mobile robots; path planning; light traffic jam; mobile robot; multigrid impedance circuit networks; robot path planning; shortest path; Circuit simulation; Impedance; Intelligent networks; Mobile robots; Orbital robotics; Path planning; Resistors; Robotics and automation; Space technology; Telecommunication traffic; environment modeling; impedance circuit networks; mobile robot; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713762

Filename

1713762