0% Complete
صفحه اصلی
/
سی و یکمین کنفرانس بین المللی مهندسی برق
Optimal Path Planning of Mobile Robots using IsoCost-Based Dynamic Programming
نویسندگان :
Fatemeh Alvankarian
1
Ahmad Kalhor
2
Mehdi Tale Masouleh
3
1- دانشگاه تهران
2- دانشگاه تهران
3- دانشگاه تهران
کلمات کلیدی :
IsoCost HyperSurface،Optimal Path Planning،Dynamic Programming،Collision Avoidance
چکیده :
This paper proposes an optimal local path planning algorithm for mobile robots by means of the so-called IsoCost-based dynamic programming. This algorithm explores and finds the optimal paths to the goal point from different start points in the environment of the robot while avoiding arbitrary numbers and forms of obstacles. The concept of IsoCost HyperSurface (ICHS) is first explained and it is shown that with a certain cost value, the ICHS corresponding to optimal path planning surrounds all other ICHSs corresponding to non-optimal path planning algorithms. Based on this geometric property, agents are initiated and planned to explore and reveal the optimal ICHSs using dynamic programming. The optimality of the proposed method is proved and the results of this method are compared with those of Modified Potential Field and Bug2 algorithms, indicating that the proposed method surpasses the other two algorithms in terms of the optimality of path length and execution time.
لیست مقالات
لیست مقالات بایگانی شده
پیشنهاد یک ساختار جدید AC/DC مبتنی بر مبدلهای SEPIC و CUK بهبودیافته برای کاربرد شارژر موتورسیکلتهای الکتریکی
سجاد قابلی ثانی - رحیم عجبی فرشباف - میثم صادقی - محمد خدایاری
Error Correction Enhancement in SCL Decoding of Polar Codes Using LSTM Network
Fatemeh Alia - Bahareh Akhbari - Mahmoud Ahmadian Attari
Interval-Based Setting Approach for Distance Relays Considering Uncertainties Using Monte Carlo Simulation
Abolfazl Hadadi - Mohammad Javad Jalilian - Behrooz Vahidi - Gholam Hossein Riahy Dehkordi
Performance Evaluation of a DC-DC Dual-Input Single-Output Topology for Renewable Energy Applications
Saed Mahmood alilou - Mohammad mohsen Hayati - Mohammad Maalandish - Mehdi Abapour - Kazem Zare - Seyed hossein Hosseini
An Improved Real-Time Implementation of Adaptive Neuro-fuzzy Controller
Iman Gholizadeh - Haniye Raziyan - Reza Javidan
Investigation of Impact Ionization Variations Versus Electric Field and Temperature in Compound Semiconductors for UV-APD Applications
Mohammad hossein Khoddami - Hassan Kaatuzian - Mohammad hossein Asgari
Validation of statistical models for direction of arrival, time of arrival and received power in a simple indoor Terahertz channel
Sina Sheybani - Amir ahmad Shishegar
Soft Decision Adaptive Deep Learning Detection for Enhanced Massive MIMO Performance
Farnaz Sedaghati - Mojtaba Amiri - Ali Olfat
Average Secrecy Capacity Performance Analysis for SWIPT-Based SIMO Underlay Cognitive Radio
Mohammad Javad Saber1 - Seyedeh Maryam Mazloum - Seyed Mohammad Sajad Sadough
Adaptive dynamic programming for kinematic control of 3 interconnected wheeled mobile robots
Aliakbar Ghasemzadeh - Roya Amjadifard - Ali Keymasi Khalaji
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 43.6.0
