Path planning algorithm using the values clustered by k-means

Won Seok Kang; Seung Hyun Lee; Berdakh Abibullaev; Jin Wook Kim; Jinung An

Path planning algorithm using the values clustered by k-means

Won Seok Kang, Seung Hyun Lee, Berdakh Abibullaev, Jin Wook Kim, Jinung An

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Path planning has been studied focusing on finding the shortest paths or smallest movements. The previous methods, however, are not suitable for stable movements on real environments in which various dynamic obstacles exist. In this paper, we suggest a path planning algorithm that makes the movement of an autonomous robot easier in a dynamic environment. Our focus is based on finding optimal movements for mobile robot to keep going on a stable situation but not on finding shortest paths or smallest movements. The proposed algorithm is based on GA and uses kmeans cluster analysis algorithm to recognize the much more information of obstacles distribution in real-life space. Simulation results confirmed to have better performance and stability of the proposed algorithm. In order to validate our results, we compared with a previous algorithm based on grid maps-based algorithm for static obstacles and dynamic obstacles environment.

Original language	English
Title of host publication	Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
Pages	959-962
Number of pages	4
Publication status	Published - Dec 1 2010
Event	15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan Duration: Feb 4 2010 → Feb 6 2010

Publication series

Name	Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10

Other

Other	15th International Symposium on Artificial Life and Robotics, AROB '10
Country	Japan
City	Beppu, Oita
Period	2/4/10 → 2/6/10

Keywords

Clustering and static/dynamic obstacles
GA
Path Planning

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction

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Cite this

Kang, W. S., Lee, S. H., Abibullaev, B., Kim, J. W., & An, J. (2010). Path planning algorithm using the values clustered by k-means. In Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 (pp. 959-962). (Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10).

Path planning algorithm using the values clustered by k-means. / Kang, Won Seok; Lee, Seung Hyun; Abibullaev, Berdakh; Kim, Jin Wook; An, Jinung.

Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 959-962 (Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kang, WS, Lee, SH, Abibullaev, B, Kim, JW & An, J 2010, Path planning algorithm using the values clustered by k-means. in Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10, pp. 959-962, 15th International Symposium on Artificial Life and Robotics, AROB '10, Beppu, Oita, Japan, 2/4/10.

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