Path Planning in Changing Environments Based on “Frame Difference

摘要：

　　An effective path planner to solve difficult region problems in changing environments is proposed in this paper.When obstacles move at uncertain speeds,difficult regions change their characteristics accordingly.Identifying difficult regions is a thorny issue.A novel method using “Frame Difference(FD)is presented in this paper,which is motivated by the idea of moving object detection.Changing regions are detected by FD and obstacle speed can be predicted qualitatively by counting the number of toggle points in those regions.Then,in order to adapt to different speeds,hybrid difference algorithm(HDA)which is a hybrid of adjacent frame difference or K-frame difference is proposed.HDA provides enough movement information of obstacles,and leads to safe path planning.Experiments conducted with a dual-manipulator system show that our method has lower replanning times and higher success rate than related planners,such as capacitor bridge builder and dynamic bridge builder.

关键词： Path planning Changing environment Frame difference PRM

作者: Zhi Wang Fang Xiao Hong Liu

作者单位: University of Science and Technology,Beijing 100083,China Shenzhen Graduate School of Peking University,Shenzhen 518055,China The Key Laboratory of Machine Perception,Peking University,Beijing 100087,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 339-347

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）