Path Planning for Robotic Delivery Systems

被引：2

作者：

Brooks, Austen ^{[1
]}

Bryant, Brandon ^{[1
]}

Spoerer, Chase ^{[1
]}

Lust, Michael ^{[1
]}

Xu, Shengkai Sam ^{[1
]}

Li, Yinfei ^{[1
]}

BouSaba, Nabila ^{[1
]}

Maity, Dipankar ^{[1
]}

机构：

[1] Univ N Carolina, William States Lee Coll Engn, Charlotte, NC 28223 USA

来源：

SOUTHEASTCON 2022 | 2022年

关键词：

Dijkstra's algorithm; path planning; node abstraction; automation; GPS; API;

D O I：

10.1109/SoutheastCon48659.2022.9764058

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this work we consider a path planning problem for our university campus. In particular, we deploy a modified version of Dijkstra's algorithm to find the shortest path faster. By appropriately sampling points (nodes) throughout the campus, we develop a directed graph representation of our campus. Open Street Map (OSM) was used to obtain the GPS locations of these points. While this constructed graph has a large number of nodes, we use a node-abstraction method to compress the graph to ensure that the time complexity of our algorithm is sufficiently reduced. Simulation results report the computation time saved due to the abstraction method.

引用

页码：421 / 426

页数：6

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