Title :
On skeleton extraction algorithm for path planning of mobile robots in complex planar maps
Author :
Li Ming ; Wang Jun ; Zhu Meiqiang
Author_Institution :
Sch. of Inf. & Electr. Eng., China Univ. of Min. & Technol., Xuzhou, China
Abstract :
For path planning in complex maps, this paper proposes skeleton extraction algorithm to realize initial path generation in two-dimensional space. Skeleton extraction algorithm can reduce the dimension of two-dimension maps, and transform it to one-dimension feasible path map by extracting skeleton of planar map. As long as a path connecting starting point and target point is found based on the skeleton, path planning and optimization can be achieved in complex map. Therefore, skeleton extraction can be applied to path planning of mobile robots in complex planar map. The skeleton extraction algorithm is simulated and its efficiency is validated in simulation condition.
Keywords :
mobile robots; path planning; complex planar map; initial path generation; mobile robots; one-dimension feasible path map; optimization; path planning; skeleton extraction algorithm; two-dimension maps; two-dimensional space; Algorithm design and analysis; Filtering algorithms; Path planning; Pixel; Real time systems; Robots; Skeleton; Global Map; Path Planning; Real-Time Path Planning; Skeleton Extraction;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6