Grid roadmap based real time path planning


Bahar M., Bahar H., Hashemzadeh F.

2011 17th International Conference on Automation and Computing, ICAC 2011, Huddersfield, England, 10 September 2011, pp.75-79 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Huddersfield
  • Country: England
  • Page Numbers: pp.75-79
  • Keywords: Dynamic environment, Grid Roadmap, Path planning, Shape deformed model
  • Istanbul Technical University Affiliated: No

Abstract

The probabilistic roadmap (PRM) is forceful for path planning in static environments. Also PRM based methods may be employed for real time path planning in dynamic environments. These methods for real time path planning desire vast amount of time for preprocessing. To mitigate desired time for initialization, we propose a new method based on Grid Roadmap (GRM) which is an edge less roadmap. By suggested roadmap and utilizing a training method for robot manipulator, we attain a shape deformed model for obstacles that cancels our ambition for configuration space. Accordingly, grid roadmap construction will be on workspace. Finally, the planner searches for a collision free path in workspace with dynamic and shape changing obstacles. © 2011 CACSUK.