MULTI-OBJECTIVE MOBILE ROBOT PATH PLANNING BASED ON A* SEARCH

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Jeddisaravi Kossar; JAVANMARD ALITAPPEH REZA; Guimaraes Frederico G.

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Seminar Paper

Paper Information

Seminar: INTERNATIONAL CONFERENCE ON COMPUTER AND KNOWLEDGE ENGINEERING (ICCKE)
Year:2016 | Issue:6

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Title

MULTI-OBJECTIVE MOBILE ROBOT PATH PLANNING BASED ON A* SEARCH

Author(s)

Jeddisaravi Kossar | JAVANMARD ALITAPPEH REZA | Guimaraes Frederico G. | Issue Writer Certificate

Keywords

PATH PLANNING PROBLEM

MULTI-OBJECTIVE PROBLEM

A*A* GRAPH SEARCH ALGORITHM

Abstract

FINDING A PATH FOR A ROBOT IS A FUNDAMENTAL TASK IN ROBOT MOTION PLANNING. DEPENDING ON APPLICATIONS AND ROBOT’S CAPABILITIES, DIFFERENT OBJECTIVES CAN BE DEFINED IN MULTIOBJECTIVE PATH PLANNING. IN THIS PAPER, BY CONSIDERING A MARS ROVER SCENARIO, WE DEFINE SEVERAL REAL OBJECTIVES THAT MUST BE MINIMIZED. THE OBJECTIVES FOR THE PROPOSED SCENARIO ARE TO MINIMIZE DIFFICULTY, DANGER, ELEVATION, AND LENGTH OF THE PATH FROM A START TO A GOAL POINT. A* SEARCH ALGORITHM IS APPLIED TO SOLVE THE PROBLEM, SINCE IT GUARANTEES TO FIND A COMPLETE AND OPTIMAL SOLUTION THAT MINIMIZES THE PATH COST. SIMULATION RESULTS IN A SIMPLE MAP AND MORE REALISTIC SCENARIO VALIDATE THE APPLICABILITY OF THE PROPOSED METHOD.

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APA: Copy

Jeddisaravi, Kossar, JAVANMARD ALITAPPEH, REZA, & Guimaraes, Frederico G.. (). . . SID. https://sid.ir/paper/943527/en

Vancouver: Copy

Jeddisaravi Kossar, JAVANMARD ALITAPPEH REZA, Guimaraes Frederico G.. . . Available from: https://sid.ir/paper/943527/en

IEEE: Copy

Kossar Jeddisaravi, REZA JAVANMARD ALITAPPEH, and Frederico G. Guimaraes, “,” presented at the . , [Online]. Available: https://sid.ir/paper/943527/en

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