Title :
Modified A* algorithm for outdoor environments with risk and velocity map
Author :
Oh, Changmok ; Choi, Byoung-Suk ; Kim, Jeong-Jung ; Lee, Ju-Jang ; Joo Lee, Ho
Author_Institution :
Agency for Defense Dev. (ADD), Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea
Abstract :
A* algorithm can generate the optimized unique path if the cost function is well designed based on the given information. Especially for global path planning (GPP), A* is one of best solutions because GPP itself assume that a prior information. In this paper, classic A* algorithm is modified for outdoor military robot with risk and velocity map. For this purpose, we design velocity map using digital elevation map (DEM) and the cost function for considering risk and velocity map.
Keywords :
cartography; digital elevation models; military computing; mobile robots; path planning; digital elevation map; global path planning; modified A* algorithm; optimized unique path; outdoor environments; outdoor military robot; velocity map; Algorithm design and analysis; Cost function; Design optimization; Industrial electronics; Mobile robots; Navigation; Path planning; Robot kinematics; Space technology; Usability;
Conference_Titel :
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-4347-5
Electronic_ISBN :
978-1-4244-4349-9
DOI :
10.1109/ISIE.2009.5214352
