Lei D.-J.,Chongwen Road 2 and |
Lei D.-J.,Chongqing University of Posts and Telecommunications |
Zhang S.,Chongwen Road 2 and |
Zhang S.,Chongqing University of Posts and Telecommunications |
And 6 more authors.
Journal of Harbin Institute of Technology (New Series) | Year: 2011
In order to search a valid path rapidly for robot, this paper proposes a path searching algorithm based on diffusion equation. Firstly, according to a deeply study on the traditional techniques with advantages and disadvantages, we present that the previous algorithms are not best suited for path planning in practice with high computational complexity. Second, we study the property of diffusion equation and utilize it to expand the searching space. Based on dividing grids and diffusion equation, we intuitively proposed an original path searching algorithm. In order to improve searching efficiency, then we present an improved path searching algorithm based on the original version algorithm. The experiment of simulated soccer robot indicates that the algorithm is feasible and valid.