| Autor: |
Hsien-I Lin, Cheng-Sun Yang |
| Jazyk: |
angličtina |
| Rok vydání: |
2015 |
| Předmět: |
|
| Zdroj: |
International Journal of Automation and Smart Technology, Vol 5, Iss 1, Pp 39-48 (2015) |
| Druh dokumentu: |
article |
| ISSN: |
2223-9766 |
| DOI: |
10.5875/ausmt.v5i1.837 |
| Popis: |
Path planning is an essential task in robot soccer. The purpose of path planning brings a robot to quickly achieve a desired location, showing that the robot has a better chance to shoot or dribble a ball to a goal. Previous work in path planning adopted sensors such as sonars and lasers to obtain local information to avoid obstacles and reach to a goal. By doing this, the robot may move slowly and collide easily with other robots that using similar obstacle-avoidance algorithms. This work proposes a 2D-span resampling method and post processing including pruning and smoothening of bi-directional rapidly-exploring random tree (Bi-RRT) to improve the path route and computational time of path planning. To avoid obstacles, this work re-plans the path by a novel 2D-span resampling method in Bi-RRT. The post processing of pruning unnecessary Bi-RRT nodes and smoothening path route enables a robot to reach a goal with a short path. This simulations validate the proposed method by the performance comparison with several common path-planning methods, showing that it generally has a shorter route distance and less computational time than the other methods. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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