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Two-way D* algorithm for path planning and replanning (CROSBI ID 171677)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Đakulović, Marija ; Petrović, Ivan Two-way D* algorithm for path planning and replanning // Robotics and autonomous systems, 59 (2011), 5; 329-342. doi: 10.1016/j.robot.2011.02.007

Podaci o odgovornosti

Đakulović, Marija ; Petrović, Ivan

engleski

Two-way D* algorithm for path planning and replanning

Inspired by the Witkowski's algorithm, we introduce a novel path planning and replanning algorithm - the two-way D* (TWD*) algorithm - based on a two-dimensional occupancy grid map of the environment. Unlike the Witkowski's algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD* algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD* algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D* algorithm as it consists of straight line segments with continuous headings. The TWD* algorithm is tested and compared to the D* and Witkowski's algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.

Graph search; Path planning; Euclidean shortest path; Mobile robotics

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Podaci o izdanju

59 (5)

2011.

329-342

objavljeno

0921-8890

10.1016/j.robot.2011.02.007

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

Poveznice
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