Robot path planning in dynamic environments using a simulated annealing based approach
Miao, Hui & Tian, Yu-Chu (2008) Robot path planning in dynamic environments using a simulated annealing based approach. In International Conference on Control, Automation, Robotics and Vision (ICARCV08), 17-20 December 2008, Hanoi, Vietnam.
This paper proposes a simulated annealing based approach to determine the optimal or near-optimal path quickly for a mobile robot in dynamic environments with static and dynamic obstacles. The approach uses vertices of the obstacles to define the search space. It processes off-line computation based on known static obstacles, and re-computes the route online if a moving obstacle is detected. The contributions of the work include the employment of the simulated annealing algorithm for robot path planning in dynamic environments, and the development of a new algorithm planner for enhancement of the efficiency of the path planning algorithm. The effectiveness of the proposed approach is demonstrated through simulations under typical dynamic environments and comparisons with existing methods.
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|Item Type:||Conference Paper|
|Keywords:||Simulated annealing algorithm, Robot path planning, Dynamic environment|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Science and Technology|
|Copyright Owner:||Copyright 2008 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||23 Feb 2009 01:59|
|Last Modified:||29 Feb 2012 13:48|
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