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1、The2010IEEE/RSJInternationalConferenceonIntelligentRobotsandSystemsOctober18-22,2010,Taipei,TaiwanTheD++Algorithm:Real-TimeandCollision-FreePath-PlanningforMobileRobotPi-YingCheng,Pin-JyunChenalgorithmsareDijkstra’salgorithm[1]andA*algorithm[2].Abstract—Thispaperproposed
2、animprovedalgorithmthatwecall“D++”whichcanbeappliedtoreal-timeandDijkstra’salgorithm,conceivedbyEdsgerDijkstrain1959,iscollision-freepath-planningtosolvesomeproblemsofcommonagraphsearchalgorithmwhichcanfindtheshortestpath.methodsatpresent.D++algorithmcombinestheDijkstra’
3、sHowever,Dijkstra’salgorithmexploresagreatdealofnodesalgorithmwithsensor-basedmethodsothatD++algorithmcaninsearchingspace,soDijkstra’salgorithmisconsideredthatdealwithproblemsofunknown,large,complex,ordynamicenvironment,andneedonlylocalenvironmentalinformationisn’teffici
4、entenough.In1972,PeterHart,whoproposedA*initiallytofindashortestpath.Inthelaterofthisarticle,wealgorithm,usedaheuristicestimatesothatitwilldealwithdemonstratedsomeexamplestoshowthatD++algorithmisverybetternodesinsearchingspacefirst,andignoresomeefficientforpath-planninga
5、ndalsoverypracticableonrealobviouslyworsenodes.Therefore,A*algorithmcanfindthemobilerobotsystem.pathmorequicklythanDijkstra’salgorithm,andstillacquiresaverysimilarsolution.I.INTRODUCTIONHowever,fordynamicenvironment,algorithmswithINpastfewyears,researchesonmobilerobotwer
6、epaidone-timecomputation,suchasDijkstra’sandA*algorithms,moreandmoreattention,andwidelyappliedtotheindustry,arequiteinefficient.Becausewhentheenvironmentchangeshospitals,offices,home-careandthemilitary.Thisisbecause(forexample,newobstacleappears),Dijkstra’sorA*oftheexcel
7、lentmoving-abilityofmobilerobotsothatitcanalgorithmsmustrunacompletesearchagainfrompresenthelpchallengedpeople,exploresanunknownanddangerlocationtothegoal.Andthisneedstospendalotofenvironment,anddrivecarsautomatically…ect.computingtime.Anotherproblemisthatwhileonlypartso
8、fPath-planningisoneofimportanttechnologyformobileenvironmentalinformationareknown,thenDijkstra’sandA*ro
