Title :
Tangency-Based Algorithm for Robot Path Planning
Author :
Zhu, Yunfei ; Cai, Zixing ; Shi, Yuexiang
Author_Institution :
Coll. of Inf. Sci. & Eng., Central South Univ., Changsha, China
Abstract :
This paper proposes a new algorithm for robot path planning. The algorithm uses image contour to compute the tangency of an obstacle. In order to get the tangency and the shortest path, contour list and tangency stack are used to design the recursion function. This idea can greatly reduce the complexity of the computation and thus result in simple programming. The experiments have proved that this design can be used in robot path planning.
Keywords :
collision avoidance; computational complexity; image processing; mobile robots; road safety; robot vision; computation complexity; contour list; image contour; recursion function; robot path planning; tangency stack; tangency-based algorithm; Algorithm design and analysis; Educational institutions; Image edge detection; Information science; Orbital robotics; Path planning; Pixel; Road accidents; Robot programming;
Conference_Titel :
Image and Signal Processing, 2009. CISP '09. 2nd International Congress on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-4129-7
Electronic_ISBN :
978-1-4244-4131-0
DOI :
10.1109/CISP.2009.5302580