Abstract
The Expanded Douglas–Peucker (EDP) polygonal approximation algorithm and its application method for the Opposite Angle-Based Exact Cell Decomposition (OAECD) are proposed for the mobile robot path-planning problem with curvilinear obstacles. The performance of the proposed algorithm is compared with the existing Douglas–Peucker (DP) polygonal approximation and vertical cell decomposition algorithm. The experimental results show that the path generated by the OAECD algorithm with EDP approximation appears much more natural and efficient than the path generated by the vertical cell decomposition algorithm with DP approximation.
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Reference24 articles.
1. Robot Motion Planning;Latombe,1991
2. Principles of Robot Motion: Theory, Algorithms, and Implementations;Choset,2005
3. Planning Algorithms;La Valle,2006
4. Survey of Robot 3D Path Planning Algorithms
5. A Review of Motion Planning Techniques for Automated Vehicles
Cited by
22 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献