Path Planning in Dynamic Environment for a Rover using A* and Potential Field Method

被引:0
作者
Raja, Rekha [1 ]
Dutta, Ashish [2 ]
机构
[1] Tata Consultancy Serv, Grasping & Robot, Noida, Uttar Pradesh, India
[2] Indian Inst Technol, Dept Mech Engn, Kanpur, Uttar Pradesh, India
来源
2017 18TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | 2017年
关键词
Path planning; fuzzy logic; A* algorithm; potential filed method; mobile robot; MOBILE ROBOT;
D O I
暂无
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
This paper proposes a path planning method for a wheeled mobile robot operating in rough terrain dynamic environments using a combination of A* search algorithm and potential field method. In this method, the mobile robot uses the structured light system to extract real terrain data as a discrete points to generate a b-spline surface. The terrain is classified based on the slope and elevation using a fuzzy logic controller and a user defined cost function is generated. A combination of A* and potential field method has been introduced to find the path from the start location to goal location according to the cost function. The A* algorithm determines the path that globally optimizes terrain roughness, curvature and length of the path, and the potential field method has been used as a local planner which performs an on-line planning to avoid the newly detected obstacles by the sensory information. The developed potential function is found to be able to avoid local minima in the work space. The results shows the effectiveness of the proposed algorithm.
引用
收藏
页码:578 / 582
页数:5
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