@inproceedings{c64a83763aaf4956a6b6d93ddaabc8a7,
title = "Path planning algorithm using the values clustered by k-means",
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.",
keywords = "Clustering and static/dynamic obstacles, GA, Path Planning",
author = "Kang, {Won Seok} and Lee, {Seung Hyun} and Berdakh Abibullaev and Kim, {Jin Wook} and Jinung An",
year = "2010",
month = dec,
day = "1",
language = "English",
isbn = "9784990288044",
series = "Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10",
pages = "959--962",
booktitle = "Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10",
note = "15th International Symposium on Artificial Life and Robotics, AROB '10 ; Conference date: 04-02-2010 Through 06-02-2010",
}