Abstract
Path Planning is generating a collision-free path in an environment with obstacles and optimizing it with respect to some criterion. Because of its importance in robotics, the problem has attracted a considerable amount of research interest. In this paper, we present an effective algorithm of shortest path planning for planar mobile robot whose time complexity is O(4 × n), n is the geometric complexity of the static planar environment. The success of our algorithm relies on exploiting both a tabu restriction and the greedy strategy of the Dijkstra algorithm. Our experimental evaluations on four different test cases show that our algorithm produces the shortest path very quickly.
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Sun, L., Liu, X., Leng, M. (2006). An Effective Algorithm of Shortest Path Planning in a Static Environment. In: Wang, K., Kovacs, G.L., Wozny, M., Fang, M. (eds) Knowledge Enterprise: Intelligent Strategies in Product Design, Manufacturing, and Management. PROLAMAT 2006. IFIP International Federation for Information Processing, vol 207. Springer, Boston, MA . https://doi.org/10.1007/0-387-34403-9_35
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DOI: https://doi.org/10.1007/0-387-34403-9_35
Publisher Name: Springer, Boston, MA
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