DocumentCode
3111568
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
fYear
2009
fDate
5-8 July 2009
Firstpage
1587
Lastpage
1591
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ISIE.2009.5214352
Filename
5214352
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