Abstract
A fast, reliable mapping and path planning method is essential to autonomous mobile robots. Popular global algorithms usually adopt occupancy gird maps (OGM) or a topological map (TM) to generate a practicable path. In this paper, we present a new path planning algorithm based on the image thinning process and the extraction of key nodes. It requires much less time and memory compared with the OGM method for generating a path, and much simpler, more robust than the TM, while preserving advantages of both. With the new algorithm, a collision-free path could be obtained in real time. Results from simulation experiments validate its efficiency and reliability.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Siegwart, R., Nourbakhsh, I.R.: Introduction to Autonomous Mobile Robots, pp. 185–308. MIT Press, Cambridge (2004)
Christoph, N., Ejan, R., Markus, G.: Genetic Path Planning for Real-time Application. In: Proceedings of the Computer Graphics International, pp. 1–8 (2004)
Pierre, F., Nicolas, N.: Monotony Properties of Connected Visible Graph Searching. In: Fomin, F.V. (ed.) WG 2006. LNCS, vol. 4271, pp. 229–240. Springer, Heidelberg (2006)
Christos, A., Paul, M.G.: Path Planning for Mobile Robot. IEEE Transaction on System, Man, and Cybernetics 22(2), 318–322 (1992)
Thrun, S.: Learning Metric-Topological Maps for Indoor Mobile Robot Navigation. Artificial Intelligence 98(1), 21–27
Kwon, T.B., Song, J.B.: Real-time Building of A Thinning-based Topological Map. Intelligent Service Robotics 1(3) (2008)
Zhang, T.Y., Suen, C.Y.: A Fast Parallel Algorithm for Thinning Digital Patterns. Communications of the ACMÂ 27(3) (1984)
Beeson, P., Kuipers, B.: Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4384–4390 (2005)
Fan, K.C., Lui, P.C.: Solving the Find-path Problem in Mapped Environments Using Modified A* search Algorithm. IEEE Transaction on System, Man, and Cybernetics 24(9), 1390–1396 (1994)
Charles, W.W.: Fast Path Planning Method Using Modified A* Method. In: IEEE International Conference on Robotics and Automation, pp. 662–667 (1993)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Xu, K., Fu, R., Deng, L., Ou, Y., Wu, X. (2010). A Fast Robot Path Planning Algorithm Based on Image Thinning. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_53
Download citation
DOI: https://doi.org/10.1007/978-3-642-16584-9_53
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16583-2
Online ISBN: 978-3-642-16584-9
eBook Packages: Computer ScienceComputer Science (R0)