Level Set Based Path Planning Using a Novel Path Optimization Algorithm for Robots

被引:0
作者
Xiao-Guang Zhang
Wei Zhang
Hui Li
Ming-Qin Liu
Sungki Lyu
机构
[1] China University of Mining & Technology,School of Mechanical and Electrical Engineering
[2] ZaoZhuang University,School of Mechanical and Electrical Engineering
[3] Gyeongsang National University,School of Mechanical and Aerospace Engineering, ReCAPT
来源
International Journal of Precision Engineering and Manufacturing | 2018年 / 19卷
关键词
Path optimization; Active contour; Path planning; Level set; Distance field;
D O I
暂无
中图分类号
学科分类号
摘要
In order to decrease the path length and control the minimum distance between the path and the obstacles when the level set based path planning algorithm is adopted, a new path optimization algorithm named elastic particle is proposed in this paper. Firstly, the iteration expression of optimization algorithm is deduced by active contour theory. Secondly, to ensure the convergence of algorithm, the relation among each item in the algorithm expression is analyzed and its convergence condition is determined. At last, level set algorithm is improved so that the smoothness of the initial path and the convergence speed of the algorithm are improved. In addition, a method named the nearest boundary distance is put forward to accelerate the operation speed of the algorithm. What’s more, memory pool and binary sort tree are adopted in the code to further reduce the running time of this algorithm. The optimal values of the algorithm parameters are analyzed via the simulation experiment,and its result demonstrates that the new algorithm has greatly optimized the path of algorithm-level set and guaranteed fast running speed and high reliability.
引用
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页码:1331 / 1338
页数:7
相关论文
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