An open-close table based path-planning algorithm for partially updated distance map

Author

Shen, Po-Kuan ; Zhang, Leiqi ; Song, Jian ; Si, Liming ; Wu, Xiaojie ; Ding, J. ; Zhang, Ye ; Zhang, Xiaobing ; Wei, Wang ; Leng, Biao ; Zeng, M. ; Zhang, Wensheng

Author_Institution

Nat. Sch. of Software, Xidian Univ., Xi´an, China

fYear

2013

fDate

24-26 Oct. 2013

Firstpage

1

Lastpage

7

Abstract

By adapting an OPEN-CLOSE table, a path planning algorithm and a distance map updating algorithm are represented in this paper. By using active window restrictions to improve the implementation efficiency, and by increasing the number of barriers/obstacles in a partially known environment, we showed that the calculation time for map updating and path planning is controversially decreased, which shows the specific performance of algorithms presented in this paper. The experimental results also show in detail that after reaching to a certain number of obstacles, the length of the updating list in the OPEN-CLOSE table becomes shorter, which makes the time needed for map updating and path planning become gradual. The algorithm presented in this paper can be practically used under the circumstances like transporting waste in hospitals or escorting people in exhibitions [14].

Keywords

collision avoidance; mobile robots; active window restrictions; barrier avoidance; calculation time; exhibitions; hospitals; implementation efficiency improvement; obstacle avoidance; open-close table based path-planning algorithm; partially-known environment; partially-updated distance map algorithm; people escorting; updating list length; waste transportation; Topology; Active Window; Distance Map; Dynamic Update; HIMM; OPEN-CLOSE table; Path Planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics (ISR), 2013 44th International Symposium on

Conference_Location

Seoul

Type

conf

DOI

10.1109/ISR.2013.6695634

Filename

6695634