The development of 3D cameras and many navigation-supporting sensors has
recently enabled robots to build their working maps and navigate
accurately, making path planning popular not just on computer graphics,
but in real environments as well. Pursuing the solutions for robot path
planning, this paper presents a variant of searching method Theta∗ for
choosing the best goal among given goals and the lowest-cost path to it,
called Batch-Theta∗. The novelty lies at the proposed line-of-sight
checking function during the searching process and the manner that the
method handles the batch of goals during one search instead of
repeatedly considering a single goal or blindly doing the exhausted
search. The analysis and simulations show that the proposed Batch-Theta∗
efficiently finds the lowest-cost path to the best goal in a given goal
set under Theta's mechanism.
Advanced Robotics, Volume 29, Issue 23, 2 December 2015, Pages 1537-1550
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