Stable path planning algorithm for avoidance of dynamic obstacles

Won Seok Kang; Sanghun Yun; Hyung Oh Kwon; Rock Hyun Choi; Chang Sik Son; Dong Ha Lee

doi:10.1109/SYSCON.2015.7116813

Stable path planning algorithm for avoidance of dynamic obstacles

Won Seok Kang, Sanghun Yun, Hyung Oh Kwon, Rock Hyun Choi, Chang Sik Son, Dong Ha Lee

Division of Intelligent Robot

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

Previous research of path planning has focused mainly on finding shortest paths or smallest movements. These methods, however, have poor stability characteristics when dynamic obstacles are considered on real-life or in-body map's environments. In this paper, we suggest a stable path planning algorithm for avoidance of dynamic obstacles. The proposed method makes the movement of a mobile robot more stable in a dynamic environment. Our focus is based on finding optimal movements for stability rather than finding shortest paths or smallest movements. The algorithm is based on Genetic Algorithm (GA) and uses k-means clustering to recognize the distribution of dynamics obstacles in various mobile space. Simulation results confirm this method can determine stable paths through environments involving dynamic obstacles. In order to validate our results, we compared the dynamic k values used in k-means clustering and grid-based dynamic cell sizes from several test sets.

Original language	English
Title of host publication	9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	578-581
Number of pages	4
ISBN (Electronic)	9781479959273
DOIs	https://doi.org/10.1109/SYSCON.2015.7116813
State	Published - 2 Jun 2015
Event	9th Annual IEEE International Systems Conference, SysCon 2015 - Vancouver, Canada Duration: 13 Apr 2015 → 16 Apr 2015

Publication series

Name	9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings

Conference

Conference	9th Annual IEEE International Systems Conference, SysCon 2015
Country/Territory	Canada
City	Vancouver
Period	13/04/15 → 16/04/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Complex Map
Dynamic Obstacle
GA
Path Planning

Access to Document

10.1109/SYSCON.2015.7116813

Cite this

Kang, W. S., Yun, S., Kwon, H. O., Choi, R. H., Son, C. S., & Lee, D. H. (2015). Stable path planning algorithm for avoidance of dynamic obstacles. In 9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings (pp. 578-581). Article 7116813 (9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SYSCON.2015.7116813

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Kang, WS, Yun, S, Kwon, HO, Choi, RH, Son, CS & Lee, DH 2015, Stable path planning algorithm for avoidance of dynamic obstacles. in 9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings., 7116813, 9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 578-581, 9th Annual IEEE International Systems Conference, SysCon 2015, Vancouver, Canada, 13/04/15. https://doi.org/10.1109/SYSCON.2015.7116813

Stable path planning algorithm for avoidance of dynamic obstacles. / Kang, Won Seok; Yun, Sanghun; Kwon, Hyung Oh et al.
9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 578-581 7116813 (9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Yun, Sanghun

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AU - Lee, Dong Ha

PY - 2015/6/2

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Kang WS, Yun S, Kwon HO, Choi RH, Son CS, Lee DH. Stable path planning algorithm for avoidance of dynamic obstacles. In 9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 578-581. 7116813. (9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings). doi: 10.1109/SYSCON.2015.7116813

Stable path planning algorithm for avoidance of dynamic obstacles

Abstract

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Bibliographical note

Keywords

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