Modified method of a path planning on a local maps for transport and aerospace robots

Istrazivanja i projektovanja za privredu

Borisovich Borzov Dmitry¹  Alexsandrovicn Lisitsin Leonid¹  Yuryevich Sazonov Sergey¹  Gennadyevich Emelyanov Sergey¹  Anatolyievich Titenko Evgeny¹  Vladimirovna Bredikhina Natalia¹  Guryevich Dobroserdov Oleg¹  Nikolaevich Frolov Sergey¹ 

[1] Southwest State University, Kursk, Russian Federation;

关键词: robotics;    planning;    path;    modification;    maps;    serospace;    additives;   

DOI  :  

来源: DOAJ

【 摘 要 】

In this paper we consider the modification of the method of planning the A-star path for transport and aerospace robots. It is necessary to take into account obstacles in the local neighborhood of aerospace robot, but not sufficient for the rational path planning. The essence of the modification is to use additional information about the features of original cell array. This additional information is represented by binary flags. They represent obstacle-free rows and matrix columns. The modification allows you to build paths that include straight sections of free cells. The main feature of this method is the use of bitwise logical operations on cell values.

【 授权许可】

Unknown