Title :
Global Path Planning of Mobile Robot Based on Particle Filter
Author :
Gao, Yang ; Sun, Shu-Dong ; He, Dong-feng
Author_Institution :
Key Lab. of Contemporary Design & Integrated Manuf. Technol., Northwestern Polytech. Univ., Xi´´an, China
fDate :
March 31 2009-April 2 2009
Abstract :
An approach for mobile robot path planning based on particle filter is proposed. Ferguson splines have been used as a path description to ensure the smoothness of the path. Supposing the best path as the true state, and the others as states polluted by noise, the problem of searching for the best path has been transferred to a filter problem. Therefore the particle filter algorithm is used to solve the problem. Simulation results show that the proposed algorithm is easy to imply and have a rapid convergence.
Keywords :
mobile robots; particle filtering (numerical methods); path planning; Ferguson splines; global path planning; mobile robot; particle filter algorithm; path description; Computer science; Data structures; Design engineering; Genetic algorithms; Mobile robots; Navigation; Orbital robotics; Particle filters; Path planning; Sun; mobile robot; particle filter algorithm; path planning;
Conference_Titel :
Computer Science and Information Engineering, 2009 WRI World Congress on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-0-7695-3507-4
DOI :
10.1109/CSIE.2009.834
