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Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot

  • Conference paper
Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

This paper proposes a hybrid path planning algorithm incorporating a global and local search mechanism for mobile robot. The global path planning is based on Voronoi graph to establish a backbone path for the map with significantly reduced nodes for the original grid map. With the use of the backbone path, the D* algorithm is adopted to determine a shortest path between the starting and end points. Taking advantages of the D* algorithm and Voronoi graph, the proposed hybrid path planning algorithm is capable of obtaining a desired path for the mobile robot, overcoming the efficiency problem while maintaining maximum safety distance from the obstacles when the mobile robot navigates in the environment.

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References

  1. Wen, R., Wang, H., Xie, J.: Path Planning of Mobile Robot Based on Voronoi Diagram by Approximation Structuring and Zonal Ant Colony Algorithm. In: Computational Intelligence and Software Engineering, pp. 1–4 (2009)

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  2. Guo, J., Liu, L., Liu, Q., Qu, Y.: An Improvement of D* Algorithm for Mobile Robot Path Planning in Partial Unknown Environment. In: Intelligent Computation Technology and Automation, vol. 3, pp. 394–397 (2009)

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Author information

Authors and Affiliations

  1. Department of Electronic Engineering, St. John’s University, 499 Tam-King Rd., Sec. 4, Tamsui, Taipei, Taiwan

    Ming-Chih Lu

  2. Department of Applied Electronics Technology, National Taiwan Normal University, 162 He-Ping East Rd., Sec. 1, Taipei, Taiwan

    Chen-Chien Hsu & Yuan-Jun Chen

  3. Department of Electrical Engineering, Tamkang University, 151 Ying-Chuan Rd., Tamsui, Taipei, Taiwan

    Shih-An Li

Authors
  1. Ming-Chih Lu
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  2. Chen-Chien Hsu
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  3. Yuan-Jun Chen
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  4. Shih-An Li
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Cite this paper

Lu, MC., Hsu, CC., Chen, YJ., Li, SA. (2012). Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_50

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_50

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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