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Two new heuristic approaches for optimal path calculation on occupancy grid map

Zwei neue heuristische Ansätze für eine optimale Bahnplanung anhand des Occupancy Grid Plans

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Abstract

A broader industrial application of mobile intelligent robots fails, especially at small and medium enterprises, because of its high cost. Therefore, worldwide current research is focused on developing “affordable—Cost-oriented (COR)” robots. One contribution to this field of research is to find favorable methods for path planning and navigation. Therefore, in this paper two new methods are presented which can be realized with low-cost hardware and software. Amongst others, these heuristics methods, compared to previously known methods, provide the advantage of low computation time, however, with a small loss of accuracy, negligible for most applications.

Zusammenfassung

Eine breitere industrielle Anwendung von mobilen, intelligenten Robotern, insbesondere in Klein- und Mittelbetrieben, scheitert meist an den derzeit noch hohen Anschaffungskosten. Ein weltweiter, aktueller Forschungsschwerpunkt ist daher die Entwicklung von „bezahlbaren – Cost-oriented (COR)“ Robotern. Ein Beitrag dazu sind preiswerte Methoden zur Bahnplanung und Navigation. In diesem Beitrag werden daher zwei neue Methoden, welche mit einer kostengünstigen Hard- und Software realisierbar sind, vorgestellt. Diese heuristischen Methoden bieten darüber hinaus, gegenüber bisher bekannten, den Vorteil einer geringen Rechenzeit, allerdings mit einem für die meisten Anwendungen vernachlässigbaren Genauigkeitsverlust.

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Authors and Affiliations

  1. Institute for Mechanic and Mechatronics, Intelligent Handling and Robotics (IHRT), Vienna University of Technology, Favoritenstraße 9/E325A6, Vienna, Austria

    Artan Dermaku & Xhevahir Bajrami

Authors
  1. Artan Dermaku
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  2. Xhevahir Bajrami
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Correspondence to Artan Dermaku.

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Dermaku, A., Bajrami, X. Two new heuristic approaches for optimal path calculation on occupancy grid map. Elektrotech. Inftech. 130, 54–60 (2013). https://doi.org/10.1007/s00502-013-0132-6

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  • DOI: https://doi.org/10.1007/s00502-013-0132-6

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