DocumentCode
495399
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
Volume
3
fYear
2009
fDate
March 31 2009-April 2 2009
Firstpage
205
Lastpage
209
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Science and Information Engineering, 2009 WRI World Congress on
Conference_Location
Los Angeles, CA
Print_ISBN
978-0-7695-3507-4
Type
conf
DOI
10.1109/CSIE.2009.834
Filename
5170831
Link To Document