TY - GEN
T1 - The D++ algorithm
AU - Cheng, Pi-Ying
AU - Chen, Pin Jyun
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651472454&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5652124
DO - 10.1109/IROS.2010.5652124
M3 - Conference contribution
AN - SCOPUS:78651472454
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3611
EP - 3616
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Y2 - 18 October 2010 through 22 October 2010
ER -