Fan-shaped grid based global path planning for mobile robot

Tiancheng Li, Shudong Sun, Yang Gao

Research output: Contribution to journalArticlepeer-review

16 Scopus citations

Abstract

A fan-shaped grid map based wave propagation algorithm (WPA) for global path planning of mobile robot in a known environment is described. In the approach, a fan-shaped grid map based on the polar coordinate is used to describe the environment of mobile robot and a grid-connected six-tree model is established. Then, the grids are valued and the approximate paths are searched through the implementation of the grid class. Lastly, the final planned path is obtained through the evaluation and optimization of approximate paths. The concepts of circle-road and circle-area are introduced in this approach, the radius problem of WPA is solved and its complexity is O(n). Simulation and experiment results illustrate that the approach is practical and time-saving.

Original languageEnglish
Pages (from-to)547-552
Number of pages6
JournalJiqiren/Robot
Volume32
Issue number4
DOIs
StatePublished - Jul 2010

Keywords

  • Fan-shaped grid
  • Global path planning
  • Mobile robot
  • Wave propagation algorithm

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