Integration of Focused D* and Witkowski's Algorithm for Path Planning and Replanning
نویسندگان
چکیده
The paper presents a new path planning and replanning algorithm based on two-dimensional occupancy grid map of the environment, which integrates the focused D* (FD*) algorithm and Witkowski’s algorithm. The FD* algorithm is used for fast replanning and Witkowski’s algorithm is used for generating all optimal paths in the grid map. Our algorithm finds the shortest path in the geometrical space based on the grid map calculations. The path optimality is proved. Path planning is used together with Dynamic Window local obstacle avoidance algorithm to produce smooth robot motion. The algorithms were tested using Pioneer 3DX mobile robot equipped with a laser range finder.
منابع مشابه
Hierarchical path planning of mobile robots in complex indoor environments
Inspired by the hierarchical D* (HD*) algorithm of D. Cagigas (Cagigas, 2005), in this paper we introduce a novel hierarchical path planning algorithm called focused hierarchical D* (FHD*). Unlike the original HD* algorithm, the FHD* algorithm guarantees the optimality of the global path, and it requires considerably less time for the path replanning operations. This is achieved with several mo...
متن کاملPath Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments
We present an autonomous driving system that is capable of planning, replanning, and executing paths for driving in urban and offroad environments. For planning, we rely on the E∗ algorithm which computes a smooth navigation function that takes into account traversibility information extracted from laser scans. The path execution algorithm is centered around a kinodynamic controller which follo...
متن کاملA Guide to Heuristic-based Path Planning
We describe a family of recently developed heuristicbased algorithms used for path planning in the real world. We discuss the fundamental similarities between static algorithms (e.g. A*), replanning algorithms (e.g. D*), anytime algorithms (e.g. ARA*), and anytime replanning algorithms (e.g. AD*). We introduce the motivation behind each class of algorithms, discuss their use on real robotic sys...
متن کاملEffective strategies for the establishment of integration model for succession planning and career progression path of iranian azad universities administrators (Qualitative Research Based Grounded Theory Approach)
• AbstractThis research was done to provide effective strategies for the establishment of integration model for succession planning and career progression path of azad universities administrators from the perspective of higher education administrators and professionals based on the systematic theoretical design of Strauss and Corbin grounded theory. Accordingly, using a targeted sampling method...
متن کاملTwo-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...
متن کامل