On Skeleton Extraction Algorithm for Path Planning of Mobile Robots in Complex Planar Maps
会议名称：《第二十九届中国控制会议》
会议日期：2010年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by National Nature Science Foundation under Grant NO.60974050
关 键 词：Skeleton Extraction Path Planning Global Map Real-Time Path Planning
摘 要：For path planning in complex maps,this paper proposes skeleton extraction algorithm to realize initial path generation in two-dimensional *** extraction algorithm can reduce the dimension of two-dimension maps,and transform it to one-dimension feasible path map by extracting skeleton of planar *** long as a path connecting starting point and target point is found based on the skeleton,path planning and optimization can be achieved in complex ***,skeleton extraction can be applied to path planning of mobile robots in complex planar *** skeleton extraction algorithm is simulated and its efficiency is validated in simulation condition.