Robot Path Planning Using Wavefront Approach with Virtual Wave HI


This paper discusses about new way for motioning planning of robots in dynamic environments that they depend on wave expansion approach that avoids wave re-expansion in sudden obstacles case. Wave that is re-expansion in big measure environments takes an important amount of time and process. A new wave expansion algorithm about path finding, either abrupt obstacles are met or local minima, has been suggested as so-called virtual wave hill algorithm, which prevents re-expansion of wave. In addition the reflects of the simulation and its results reflects that how the performance has developed the current methods. By using the algorithm it's been tried to prevent the re-expansion of the wave.

  • Abstract
  • Keywords:
  • I. Introduction
  • II. The Environment Representation
  • III. The Wavefront Algorithm
  • IV. Movement in Dynamic Environment
  • V. Sudden Obstacles as Dynamicity of Environment
  • VI. The Virtual Wave Hill Algorithm
  • VII. Simulation Results
  • VIII. Conclusion
  • IX. References

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