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. © 2010 Springer-Verlag.
CITATION STYLE
Xu, K., Fu, R., Deng, L., Ou, Y., & Wu, X. (2010). A fast robot path planning algorithm based on image thinning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6424 LNAI, pp. 548–557). https://doi.org/10.1007/978-3-642-16584-9_53
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