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Paper ThAP.44

Shim, Young Bo (Chungbuk National University), Kim, Gon-Woo (Chungbuk National University)

Combining Global and Local Path Planner Using Theta* and the Expanded Guide Circle (EGC) Algorithm

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Motion and Path Planning, Navigation, Collision Detection and Avoidance

Abstract

A global path planner can generally guarantee the completeness in the known environment but cannot guarantee the optimality in the unknown environment. In contrast, a local path planner generally shows the good performance in the dynamic and unknown environment. In this paper, we propose the path planning algorithm for the unknown environment through combining the Theta* algorithm as the global path planner and the Expanded Guide Circle (EGC) method as the local path planner efficiently. We evaluate the efficiency of the proposed algorithm using the simulation.

 

 

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