The D++ algorithm: Real-time and collision-free path-planning for mobile robot

Pi-Ying Cheng*, Pin Jyun Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper proposed an improved algorithm that we call "D++" which can be applied to real-time and collision-free path -planning to solve some problems of common methods at present. D++ algorithm combines the Dijkstra's algorithm with sensor-based method so that D++ algorithm can deal with problems of unknown, large, complex, or dynamic environment, and need only local environmental information initially to find a shortest path. In the later of this article, we demonstrated some examples to show that D++ algorithm is very efficient for path-planning and also very practicable on real mobile robot system.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3611-3616
Number of pages6
DOIs
StatePublished - 1 Dec 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
Duration: 18 Oct 201022 Oct 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan
CityTaipei
Period18/10/1022/10/10

Fingerprint Dive into the research topics of 'The D++ algorithm: Real-time and collision-free path-planning for mobile robot'. Together they form a unique fingerprint.

  • Cite this

    Cheng, P-Y., & Chen, P. J. (2010). The D++ algorithm: Real-time and collision-free path-planning for mobile robot. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 3611-3616). [5652124] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5652124