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Tree-like Structure Path Planning using Real-time Sensors data and Way Points
Hu YM(胡艳明); Li DC(李德才); Gu F(谷丰); Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
会议名称2016 12th International Conference on Intelligent Unmanned Systems (ICIUS 2016)
会议日期Augest 23-25, 2016
会议地点Xi'an, China
会议录名称2016 12th International Conference on Intelligent Unmanned Systems (ICIUS 2016)
2016
产权排序1
关键词Mobile Robot Path Planning Graph Search Algorithm Road Shape Environment
摘要Inspired by the storage structure of graph search algorithm, we propose a tree-like data structure (TLDS) for environment information storage. The robot uses only some sparse information of global environment and can easily slips into the dead end or the wrong way, especially the forks in the road. Moreover, based on the TLDS, a complete planning scheme can be obtained. It can help the robot to search in each branch road it may encounter, and to return to the fork in the road for re-planning when the mobile robot know the road is wrong. Simulation results are presented along with two different kind purposes, the first Mini-Test is to verify the feasibility of the tree-like data structure, and the second Test is to verify the complete set of solution.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19532
专题机器人学研究室
通讯作者Hu YM(胡艳明)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Hu YM,Li DC,Gu F,et al. Tree-like Structure Path Planning using Real-time Sensors data and Way Points[C],2016.
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