RimJump: Edge-based Shortest Path Planning for a 2D Map

Zhuo Yao; Weimin Zhang; Yongliang Shi; Mingzhu Li; Zhenshuo Liang; Fangxing Li; Qiang Huang

doi:10.1017/S0263574718001236

RimJump: Edge-based Shortest Path Planning for a 2D Map

Zhuo Yao, Weimin Zhang^*, Yongliang Shi, Mingzhu Li, Zhenshuo Liang, Fangxing Li, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

Path planning under 2D map is a key issue in robot applications. However, most related algorithms rely on point-by-point traversal. This causes them usually cannot find the strict shortest path, and their time cost increases dramatically as the map scale increases. So we proposed RimJump to solve the above problem, and it is a new path planning method that generates the strict shortest path for a 2D map. RimJump selects points on the edge of barriers to form the strict shortest path. Simulation and experimentation prove that RimJump meets the expected requirements.

Original language	English
Pages (from-to)	641-655
Number of pages	15
Journal	Robotica
Volume	37
Issue number	4
DOIs	https://doi.org/10.1017/S0263574718001236
Publication status	Published - 1 Apr 2019

Keywords

Path planning
RimJump
Shortest path

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10.1017/S0263574718001236

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abstract = "Path planning under 2D map is a key issue in robot applications. However, most related algorithms rely on point-by-point traversal. This causes them usually cannot find the strict shortest path, and their time cost increases dramatically as the map scale increases. So we proposed RimJump to solve the above problem, and it is a new path planning method that generates the strict shortest path for a 2D map. RimJump selects points on the edge of barriers to form the strict shortest path. Simulation and experimentation prove that RimJump meets the expected requirements.",

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AU - Liang, Zhenshuo

AU - Li, Fangxing

AU - Huang, Qiang

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AB - Path planning under 2D map is a key issue in robot applications. However, most related algorithms rely on point-by-point traversal. This causes them usually cannot find the strict shortest path, and their time cost increases dramatically as the map scale increases. So we proposed RimJump to solve the above problem, and it is a new path planning method that generates the strict shortest path for a 2D map. RimJump selects points on the edge of barriers to form the strict shortest path. Simulation and experimentation prove that RimJump meets the expected requirements.

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RimJump: Edge-based Shortest Path Planning for a 2D Map

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Keywords

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