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

Pi-Ying Cheng; Pin Jyun Chen

doi:10.1109/IROS.2010.5652124

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

Pi-Ying Cheng^*, Pin Jyun Chen

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages	3611-3616
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2010.5652124
State	Published - 1 Dec 2010
Event	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan Duration: 18 Oct 2010 → 22 Oct 2010

Publication series

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

Conference

Conference	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country	Taiwan
City	Taipei
Period	18/10/10 → 22/10/10

Access to Document

10.1109/IROS.2010.5652124

Link to publication in Scopus

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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

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

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.",

author = "Pi-Ying Cheng and Chen, {Pin Jyun}",

year = "2010",

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doi = "10.1109/IROS.2010.5652124",

language = "English",

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series = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",

pages = "3611--3616",

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note = "null ; Conference date: 18-10-2010 Through 22-10-2010",

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Cheng, P-Y & Chen, PJ 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., 5652124, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 3611-3616, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, 18/10/10. https://doi.org/10.1109/IROS.2010.5652124

The D++ algorithm : Real-time and collision-free path-planning for mobile robot. / Cheng, Pi-Ying; Chen, Pin Jyun.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 3611-3616 5652124 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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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.

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Cheng P-Y, Chen PJ. 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. 2010. p. 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