Mobile Robot Path Planning Based on a Generalized Wavefront Algorithm
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-03-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This study develops a generalized wavefront algorithm for conducting mobile robot path planning.
The algorithm combines multiple target point sets, multilevel grid costs, logarithmic expansion around obstacles, and subsequent path optimization.
The planning performances obtained with the proposed algorithm, the A∗ algorithm, and the rapidly exploring random tree (RRT) algorithm optimized using a Bézier curve are compared using simulations with different grid map environments comprising different numbers of obstacles with varying shapes.
The results demonstrate that the generalized wavefront algorithm generates smooth and safe paths around obstacles that meet the required kinematic conditions associated with the actual maneuverability of mobile robots and significantly reduces the planned path length compared with the results obtained with the A∗ algorithm and the optimized RRT algorithm with a computation time acceptable for real-time applications.
Therefore, the generated path is not only smooth and effective but also conforms to actual robot maneuverability in practical applications.
American Psychological Association (APA)
Wu, Sifan& Du, Yu& Zhang, Yonghua. 2020. Mobile Robot Path Planning Based on a Generalized Wavefront Algorithm. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1197313
Modern Language Association (MLA)
Wu, Sifan…[et al.]. Mobile Robot Path Planning Based on a Generalized Wavefront Algorithm. Mathematical Problems in Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1197313
American Medical Association (AMA)
Wu, Sifan& Du, Yu& Zhang, Yonghua. Mobile Robot Path Planning Based on a Generalized Wavefront Algorithm. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1197313
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197313