Title :
Utilizing Subsection Arc Algorithm to Optimize the Path for a Complex Mobile Entity in a Strait Environment
Author :
Yajie, Liu ; Hangyu, Wang ; Jun, Xie
Author_Institution :
Acad. of Electron. Eng., Naval Univ. of Eng., Wuhan, China
Abstract :
Aiming at path planning for the complex mobile entity in a strait environment, based on hull searching algorithm, a set of folding linear path candidates were found out, in order to enhance the success rate of path planned, the folding linear paths were transformed to the arcs by utilizing subsection arc algorithm. After the motion trace of the mobile entity was given, the security of the path is easily judged by the collision detection. The path optimized algorithm is simple, effective for the complex mobile entity in a strait environment.
Keywords :
collision avoidance; mobile robots; motion control; collision detection; complex mobile entity; folding linear path candidates; hull searching algorithm; motion trace; path optimization; path planning; strait environment; subsection arc algorithm; Automation; Electronic mail; Genetic algorithms; Geometry; Heuristic algorithms; Mobile computing; Motion detection; Path planning; Security; Solid modeling; collision detection; path planning; subsection arc algorithm; the complex mobile entity;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2010 International Conference on
Conference_Location :
Changsha
Print_ISBN :
978-1-4244-7279-6
Electronic_ISBN :
978-1-4244-7280-2
DOI :
10.1109/ICICTA.2010.109
