• DocumentCode
    3212508
  • Title

    Reduction of Visibility Graph on Global Path Planning for Mobile Robot

  • Author

    Chongzhu Wei ; Zi Ma ; Jianghui Chang

  • Author_Institution
    Autom. Res. Center, Dalian Maritime Univ., China
  • fYear
    2006
  • fDate
    7-11 Aug. 2006
  • Firstpage
    1605
  • Lastpage
    1608
  • Abstract
    Visibility graph is a kind of conventional method in path planning for mobile robot. Complexity degree of visibility graph increases rapidly with more obstacles appearing. If the number of vertexes of obstacles is N, the computing time will be O(N3). In this paper, the concept of completely visible obstacles and related theorems are presented, the resulting reduced visibility graph are applied to the global path planning of mobile robot combing with dynamic visibility graph and improves quality of real time.
  • Keywords
    collision avoidance; computational complexity; graph theory; mobile robots; dynamic visibility graph; global path planning; mobile robot; reduced visibility graph; time complexity; IEEE catalog; Mobile robots; Path planning; Robotics and automation; Tin; dynamic visibility graph; mobile robot; path planning; reduced visibility graph;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference, 2006. CCC 2006. Chinese
  • Conference_Location
    Harbin
  • Print_ISBN
    7-81077-802-1
  • Type

    conf

  • DOI
    10.1109/CHICC.2006.280784
  • Filename
    4060360
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3212508