Incremental path planning using partial map information for mobile robots

Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICARCV.2006.345286

Title:	Incremental path planning using partial map information for mobile robots
Authors:	Lai, X.C. Ge, S.S. Ong, P.T. Al Mamun, A.
Keywords:	A* search Incremental path planning Mobile robots Partial knowledge
Issue Date:	2006
Citation:	Lai, X.C.,Ge, S.S.,Ong, P.T.,Al Mamun, A. (2006). Incremental path planning using partial map information for mobile robots. 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 : -. ScholarBank@NUS Repository. https://doi.org/10.1109/ICARCV.2006.345286
Abstract:	This paper proposes a practical method for planning paths incrementally for mobile robots in unknown environments using the latest sensory information. A* algorithm was modified in this research for it to be able to handle an occupancy grid map with unknown information. Then the paper presented an algorithm that is able to robustly and incrementally searching for an optimal path based on the partial map simultaneously built by the robot. Waypoints was generated to further optimize the obtained path and were sequentially traced by the robot in a simple, reactive way. Extensive simulations and experiments were carried out to verify the proposed planning algorithm. © 2006 IEEE.
Source Title:	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
URI:	http://scholarbank.nus.edu.sg/handle/10635/70582
ISBN:	1424403421
DOI:	10.1109/ICARCV.2006.345286
Appears in Collections:	Staff Publications

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