Grid roadmap based real time path planning

M. R.B. Bahar*, H. B. Bahar, F. Hashemzadeh

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

The probabilistic roadmap (PRM) is forceful for path planning in static environments. Also PRM based methods may be employed for real time path planning in dynamic environments. These methods for real time path planning desire vast amount of time for preprocessing. To mitigate desired time for initialization, we propose a new method based on Grid Roadmap (GRM) which is an edge less roadmap. By suggested roadmap and utilizing a training method for robot manipulator, we attain a shape deformed model for obstacles that cancels our ambition for configuration space. Accordingly, grid roadmap construction will be on workspace. Finally, the planner searches for a collision free path in workspace with dynamic and shape changing obstacles.

Original languageEnglish
Title of host publicationProceedings of 2011 17th International Conference on Automation and Computing, ICAC 2011
Pages75-79
Number of pages5
Publication statusPublished - 2011
Externally publishedYes
Event2011 17th International Conference on Automation and Computing, ICAC 2011 - Huddersfield, United Kingdom
Duration: 10 Sept 201110 Sept 2011

Publication series

NameProceedings of 2011 17th International Conference on Automation and Computing, ICAC 2011

Conference

Conference2011 17th International Conference on Automation and Computing, ICAC 2011
Country/TerritoryUnited Kingdom
CityHuddersfield
Period10/09/1110/09/11

Keywords

  • Dynamic environment
  • Grid Roadmap
  • Path planning
  • Shape deformed model

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