MODIFIED METHOD OF A PATH PLANNING ON A LOCAL MAPS FOR TRANSPORT AND AEROSPACE ROBOTS

  • Titenko Evgeny Anatolyievich Southwest State University, Kursk
  • Emelyanov Sergey Gennadyevich Southwest State University, Kursk
  • Dobroserdov Oleg Guryevich Southwest State University, Kursk
  • Borzov Dmitry Borisovich Southwest State University, Kursk
  • Frolov Sergey Nikolaevich Southwest State University, Kursk
  • Lisitsin Leonid Alexsandrovicn Southwest State University, Kursk
  • Bredikhina Natalia Vladimirovna Southwest State University, Kursk
  • Sazonov Sergey Yuryevich Southwest State University, Kursk
Keywords: robotics, planning, Path, modification, maps, Aerospace, additives,

Abstract


In this paper we consider the modification of the method of planning the A-star path for transport and aerospace robots. It is necessary to take into account obstacles in the local neighborhood of aerospace robot, but not sufficient for the rational path planning. The essence of the modification is to use additional information about the features of original cell array. This additional information is represented by binary flags. They represent obstacle-free rows and matrix columns. The modification allows you to build paths that include straight sections of free cells. The main feature of this method is the use of bitwise logical operations on cell values.

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Published
2019/12/15
Section
Original Scientific Paper