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Stable path planning algorithm for avoidance of dynamic obstacles

Title
Stable path planning algorithm for avoidance of dynamic obstacles
Authors
Kang, Won-SeokYun, SanghunKwon, Hyung-OhChoi, Rock-HyunSon, Chang-SikLee, Dong Ha
DGIST Authors
Kang, Won-Seok; Son, Chang-Sik; Lee, Dong Ha
Issue Date
2015-04-13
Citation
9th Annual IEEE International Systems Conference, SysCon 2015, 578-581
Type
Conference
ISBN
9780000000000
Abstract
Previous research of path planning has focused mainly on finding shortest paths or smallest movements. These methods, however, have poor stability characteristics when dynamic obstacles are considered on real-life or in-body map's environments. In this paper, we suggest a stable path planning algorithm for avoidance of dynamic obstacles. The proposed method makes the movement of a mobile robot more stable in a dynamic environment. Our focus is based on finding optimal movements for stability rather than finding shortest paths or smallest movements. The algorithm is based on Genetic Algorithm (GA) and uses k-means clustering to recognize the distribution of dynamics obstacles in various mobile space. Simulation results confirm this method can determine stable paths through environments involving dynamic obstacles. In order to validate our results, we compared the dynamic k values used in k-means clustering and grid-based dynamic cell sizes from several test sets. © 2015 IEEE.
URI
http://hdl.handle.net/20.500.11750/5475
DOI
10.1109/SYSCON.2015.7116813
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
Files:
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Collection:
Convergence Research Center for Wellness2. Conference Papers


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