A New Real-Time Path Planning Method Based on the Belief Space
A new approach of real-time path planning based on belief space is proposed, which solves the problems of modeling the real-time detecting environment and optimizing in local path planning with the fusing factors. Initially, a double-safe-edges free space is defined for describing the sensor detecti...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2013/260578 |
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| _version_ | 1832560386855927808 |
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| author | Yu-xin Zhao Xin-an Wu Yan Ma |
| author_facet | Yu-xin Zhao Xin-an Wu Yan Ma |
| author_sort | Yu-xin Zhao |
| collection | DOAJ |
| description | A new approach of real-time path planning based on belief space is proposed, which solves the problems of modeling the real-time detecting environment and optimizing in local path planning with the fusing factors. Initially, a double-safe-edges free space is defined for describing the sensor detecting characters, so as to transform the complex environment into some free areas, which can help the robots to reach any positions effectively and safely. Then, based on the uncertainty functions and the transferable belief model (TBM), the basic belief assignment (BBA) spaces of each factor are presented and fused in the path optimizing process. So an innovative approach for getting the optimized path has been realized with the fusing the BBA and the decision making by the probability distributing. Simulation results indicate that the new method is beneficial in terms of real-time local path planning. |
| format | Article |
| id | doaj-art-6484ec59f42e46d2affde74386960fdf |
| institution | Kabale University |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-6484ec59f42e46d2affde74386960fdf2025-02-03T01:27:45ZengWileyAbstract and Applied Analysis1085-33751687-04092013-01-01201310.1155/2013/260578260578A New Real-Time Path Planning Method Based on the Belief SpaceYu-xin Zhao0Xin-an Wu1Yan Ma2College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaA new approach of real-time path planning based on belief space is proposed, which solves the problems of modeling the real-time detecting environment and optimizing in local path planning with the fusing factors. Initially, a double-safe-edges free space is defined for describing the sensor detecting characters, so as to transform the complex environment into some free areas, which can help the robots to reach any positions effectively and safely. Then, based on the uncertainty functions and the transferable belief model (TBM), the basic belief assignment (BBA) spaces of each factor are presented and fused in the path optimizing process. So an innovative approach for getting the optimized path has been realized with the fusing the BBA and the decision making by the probability distributing. Simulation results indicate that the new method is beneficial in terms of real-time local path planning.http://dx.doi.org/10.1155/2013/260578 |
| spellingShingle | Yu-xin Zhao Xin-an Wu Yan Ma A New Real-Time Path Planning Method Based on the Belief Space Abstract and Applied Analysis |
| title | A New Real-Time Path Planning Method Based on the Belief Space |
| title_full | A New Real-Time Path Planning Method Based on the Belief Space |
| title_fullStr | A New Real-Time Path Planning Method Based on the Belief Space |
| title_full_unstemmed | A New Real-Time Path Planning Method Based on the Belief Space |
| title_short | A New Real-Time Path Planning Method Based on the Belief Space |
| title_sort | new real time path planning method based on the belief space |
| url | http://dx.doi.org/10.1155/2013/260578 |
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