Delaunay Graph Based Path Planning of Dynamic Obstacle Avoidance Method for Mobile

Hui Ying Dong; Yang Song; Yu Zhao

doi:10.4028/www.scientific.net/AMR.217-218.1775

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 217-218Delaunay Graph Based Path Planning of Dynamic...

Delaunay Graph Based Path Planning of Dynamic Obstacle Avoidance Method for Mobile

Abstract:

This paper is about dynamic obstacle avoidance. Delaunay Graph is used for modeling the working space, an approximate shortest path of mobile robot is determined by using floyd algorithm. Path can be found easily with genetic algorithm. Then genetic algorithm is used for obtaining the optimum path. It may meet which dynamic obstacle when robot follows optimum path. so it should avoid it. Results of simulation show that this path planning method is simple and realized easily.

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Periodical:

Advanced Materials Research (Volumes 217-218)

Pages:

1775-1780

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.217-218.1775

Citation:

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Online since:

March 2011

Authors:

Hui Ying Dong, Yang Song, Yu Zhao

Keywords:

Delaunay Diagram, Floyd Algorithm, Genetic Algorithm (GA), Mobile Robot, Obstacle Avoidance

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