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论文类型：期刊论文

发表时间：2011-08-01

发表刊物：ICIC Express Letters

收录刊物：EI、Scopus

卷号：5

期号：8 B

页面范围：2747-2752

ISSN号：1881803X

摘要：This paper presents a novel outdoor path planning algorithm that gives consideration to both environment constraint and nonholonomic constraint. In order to generate accurate environment constraint, an elevation map is utilized to represent outdoor terrain. The Probabilistic Roadmap Method (PRM) is improved by choosing the special units in big-sized grids to ensure a uniform distribution of nodes. In the PRM, an evaluation strategy for calculating safe ranges of units in an elevation map is applied to generate environment constraint, and the path composed of units is smoothed to satisfy the nonholonomic constraint of a mobile robot. Experiment results show the validity and practicability of the proposed approach. ? 2011 ISSN 1881-803X.