A HYBRID ROADMAP MODEL FOR ROBOT PATH PLANNING

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MASIHIAN E.; AMIN NASERI MOHAMMAD REZA; ESMAEILZADEH KHADEM S.

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Paper Information

Journal: INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH) Year:2004 | Volume:15 | Issue:2 Page(s): 77-87

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Information Journal Paper

Title

A HYBRID ROADMAP MODEL FOR ROBOT PATH PLANNING

Author(s)

MASIHIAN E. | AMIN NASERI MOHAMMAD REZA | ESMAEILZADEH KHADEM S. | Issue Writer Certificate

Keywords

ROBOT MOTION PLANNINGQ4

VORONOI DIAGRAMQ4

POTENTIAL FIELDSQ4

Abstract

Numerous methods have been developed to solve the motion planning problem, such as POTENTIAL FIELDS and VORONOI DIAGRAMs. In order to benefit from the superiorities of these two methods and compensate their weaknesses, we propose an integrated model for path planning. In this paper, after building the environment's Generalized VORONOI DIAGRAM, we introduce the Pruned Generalized VORONOI DIAGRAM. Then a potential function is assigned to it and incorporated into the Potential Field model. Finally, a steepest descent, mildest ascent bidirectional search technique is used for path planning. This enables us to overcome the famous local minima problem in POTENTIAL FIELDS. The algorithm performs satisfactorily in complicated problems, especially mazes.

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APA: Copy

MASIHIAN, E., AMIN NASERI, MOHAMMAD REZA, & ESMAEILZADEH KHADEM, S.. (2004). A HYBRID ROADMAP MODEL FOR ROBOT PATH PLANNING. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH), 15(2), 77-87. SID. https://sid.ir/paper/52595/en

Vancouver: Copy

MASIHIAN E., AMIN NASERI MOHAMMAD REZA, ESMAEILZADEH KHADEM S.. A HYBRID ROADMAP MODEL FOR ROBOT PATH PLANNING. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH)[Internet]. 2004;15(2):77-87. Available from: https://sid.ir/paper/52595/en

IEEE: Copy

E. MASIHIAN, MOHAMMAD REZA AMIN NASERI, and S. ESMAEILZADEH KHADEM, “A HYBRID ROADMAP MODEL FOR ROBOT PATH PLANNING,” INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH), vol. 15, no. 2, pp. 77–87, 2004, [Online]. Available: https://sid.ir/paper/52595/en

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