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Application of hybrid A* to an autonomous mobile robot for path planning in unstructured outdoor environments

 
: Petereit, Janko; Emter, Thomas; Frey, Christian; Kopfstedt, T.; Beutel, A.

:
Postprint urn:nbn:de:0011-n-3745554 (257 KByte PDF)
MD5 Fingerprint: 3f9ef86808be80e8b75120e24eec8211
Erstellt am: 20.1.2016


Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
S.227-232
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

Abstract
Efficient path planning is one of the main prerequisites for robust navigation of autonomous robots. Especially driving in complex environments containing both streets and unstructured regions is a challenging problem. In this paper we present the application of the Hybrid A* algorithm to a nonholonomic mobile outdoor robot in order to plan near optimal paths in mostly unknown and potentially intricate environments. The implemented algorithm is capable of generating paths with a rate of at least 10 Hz to guarantee real-time behavior.

: http://publica.fraunhofer.de/dokumente/N-374555.html