Please use this identifier to cite or link to this item:
標題: 結合行為成本與路徑長度之最佳化路徑設計
Optimal Path-planning Using the Behavior Cost and the Path Length
作者: 陳威志
Chen, Wei-Zhi
關鍵字: Optimal Path-planning;路徑成本;Behavior Cost;Path Length;Euclidean distance;環境成本;最佳化路徑設計;歐基里德距離
出版社: 電機工程學系所
引用: [1] P. E. Hart, N. J. Nilsson, and B. Raphael, ”A formal basis for the heuristic determination of minimum cost path,” IEEE Trans. Syst. Sci.Cybern., vol. SSC-4, no. 2,pp. 100-107,Jul. 1968. [2] C. W. Warren, ”Fast path planning using modified a* method,” in Proc.IEEE Int. Conf. Robotics and Automation, Atlanta, GA, pp.662-667, May 1993 [3] J. C. Latombe, Robot Motion Planning. Boston, MA:Kluwer,1991 [4] O. Takahashi and R. J. Schilling, “Motion planning in a plane using generalized voronoi diagrams,” IEEE Trans. Robot. Autom., vol. 5, no.2, pp. 143-150, Apr. 1989. [5] O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” Int. J. Rob. Res.,vol.5, no.1 ,pp. 90-98, 1986. [6] K. P. Valavanis, T. Hebert, R.Kolluru, N. Tsourveloudis, “Mobile robot navigation in 2-d dynamic environments using an electrostatic potential field,” IEEE Trans. Syst., Man, Cybern. A, Syst., Humans, vol.30, no.2, pp.187-196, Mar. 2000. [7] Allan R. Willms, Simon X. Yang,”An efficient dynamic system for real-time robot-path planning,” IEEE Trans. Syst., Man, Cybern. B, Cybern, vol.36, no.4, August 2006. [8] SUBBARAO KAMBHAMPATI, LARRY S. DAVIS,”Multiresolution Path Planning for Moble Robots,” IEEE Trans. Robot. Autom., vol. RA-2, no.3, Sep. 1986.

Path planning is an important research topic in the autonomous robotapplications. In this thesis, the path is obtained by optimizing the cost function which is composed of the cost of the length of the path and the cost of the
desired behavior. It is assumed that the desired behavior of the robot is wall following with obstacle avoiding. First, a map is constructed from theoperational environment. The cost of the desired behavior can then be assigned.A multi-resolution scheme is adopted in finding the optimal path. A map with alower resolution is used to acquire a initial path. Then the final path can be
found within a band containing the initial path with the original fine resolution.
其他識別: U0005-2708200721075900
Appears in Collections:電機工程學系所

Show full item record

Google ScholarTM


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.