Skip to main content
SpringerLink
Log in
SpringerLink
Log in

Real-Time Path Planning Strategies for Real World Application Using Random Access Sequence

  • Conference paper
Advances in Natural Computation (ICNC 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4222))

Included in the following conference series:

  • 910 Accesses

Abstract

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done. Although many solutions help finding a optimal path, those can be applied to real world only under constrained condition, which means that it is difficult to find a universal algorithm. Moreover, a complicated computation to obtain an optimal path induces the time delay so that a robot can not avoid moving obstacles. In this paper, we propose the algorithm of path planning and obstacle avoidance using Random Access Sequence(RAS) methodology. In the proposed scheme, the cell decomposition is make first and cell neighbors are assigned as sequence code, then the path with minimum length is selected.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Stentz, A.: Map-Based Strategies for Robot Navigation in Unknown Environments. In: Proc. of AAAI (1996)

    Google Scholar 

  2. Hwang, Y.K., Ahuja, N.: Gross motion planning – A survey. ACM Comput. Surv. 24, 219–299 (1992)

    Article  Google Scholar 

  3. Stentz, A.: The focused D* algorithm for real-time replanning. In: Proc. Of Int. Joint Artificail Intell., pp. 1652–1659 (1995)

    Google Scholar 

  4. Koenig, S., Likhachev, M.: Fast Replanning for Navigation in Unknown Terrain. IEEE Trans. Robotics 21(3), 354–363 (2005)

    Article  Google Scholar 

  5. Ge, S.S., Cui, Y.J.: New Potential Functions for Mobile Robot Path Planning. IEEE Trans. Robotics 16(5), 615–620 (2000)

    Article  Google Scholar 

  6. Kaneshige, A., Akamatsu, T., Terashima, K.: Real Time Path Planning Based on the Potential Method with 3-D Diffusion Process for an Overhead Traveling Crane. In: Control Conference, vol. 3, pp. 1715–1722 (2004)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical Engineering Computer Science, Hanyang University, 1271 Sa-1 dong, Sangnok-gu, Kyeonggi-do, Ansan

    Jaehyuk Kwak & Joonhong Lim

Authors
  1. Jaehyuk Kwak
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Joonhong Lim
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Life Science Research Center, School of Electronic Engineering, Xidian University, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  2. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  3. School of Electronic Engineering, Xidian Univ., P.O. Box, 710071, Xi’an, P.R. China

    Xinbo Gao

  4. College of Mathematics and Information Science, Hebei Normal University, 050016, Shijiazhuang, Hebei, P.R. China

    Jing Liu

  5. Multi-Agent Systems Lab,Department of Computer Science, University of Science and Technology of China, 230026, Hefei, China

    Feng Wu

Rights and permissions

Reprints and permissions

Copyright information

© 2006 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Kwak, J., Lim, J. (2006). Real-Time Path Planning Strategies for Real World Application Using Random Access Sequence. In: Jiao, L., Wang, L., Gao, X., Liu, J., Wu, F. (eds) Advances in Natural Computation. ICNC 2006. Lecture Notes in Computer Science, vol 4222. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11881223_102

Download citation

  • DOI: https://doi.org/10.1007/11881223_102

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-45907-1

  • Online ISBN: 978-3-540-45909-5

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation