Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Any-angle Path Planning Algorithm considering Angular Constraint for Marine Robot

해양 로봇의 회전 반경을 고려한 경로 계획 알고리즘

  • Kim, Han-Guen (KAIST (Korea Advanced Institute of Science and Technology)) ;
  • Myung, Hyun (KAIST (Korea Advanced Institute of Science and Technology)) ;
  • Choi, Hyun-Taek (KORDI (Korea Ocean Research&Development Institute))
  • 김한근 (한국과학기술원 건설 및 환경공학과) ;
  • 명현 (한국과학기술원 건설 및 환경공학과) ;
  • 최현택 (한국해양연구원)
  • Received : 2011.12.18
  • Accepted : 2012.01.10
  • Published : 2012.04.01
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Abstract

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

Keywords

References

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