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A Fast Robot Path Planning Algorithm Based on Image Thinning

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Intelligent Robotics and Applications (ICIRA 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6424))

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Abstract

A fast, reliable mapping and path planning method is essential to autonomous mobile robots. Popular global algorithms usually adopt occupancy gird maps (OGM) or a topological map (TM) to generate a practicable path. In this paper, we present a new path planning algorithm based on the image thinning process and the extraction of key nodes. It requires much less time and memory compared with the OGM method for generating a path, and much simpler, more robust than the TM, while preserving advantages of both. With the new algorithm, a collision-free path could be obtained in real time. Results from simulation experiments validate its efficiency and reliability.

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Author information

Authors and Affiliations

  1. Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China

    Ke Xu, Ruiqing Fu, Lei Deng, Yongsheng Ou & Xinyu Wu

  2. The Chinese University of Hong Kong, Hong Kong

    Yongsheng Ou & Xinyu Wu

Authors
  1. Ke Xu
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  2. Ruiqing Fu
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  3. Lei Deng
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  4. Yongsheng Ou
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  5. Xinyu Wu
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Editor information

Editors and Affiliations

  1. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

  2. Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China

    Han Ding , Zhenhua Xiong  & Xiangyang Zhu ,  & 

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© 2010 Springer-Verlag Berlin Heidelberg

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Xu, K., Fu, R., Deng, L., Ou, Y., Wu, X. (2010). A Fast Robot Path Planning Algorithm Based on Image Thinning. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_53

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  • DOI: https://doi.org/10.1007/978-3-642-16584-9_53

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16583-2

  • Online ISBN: 978-3-642-16584-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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