An Efficient Algorithm Of Path Planning For An Internal Gas Pipe Inspection Robot
説明
This paper describes an efficient algorithm of path planning for an internal gas pipe inspection robot. Since the purpose of this robot is to move in pipes to detect injures and scratches, the path should cover all pipes in a given map. The problem to find a path along which the robot can investigate all pipes at least so that the total distance is minimum is called 'Chinese Postman Problem'. Usually this problem is NP-complete. If all values of pipes are non-negative, the numerical programming is applied for finding the optimal path. However this is still too complicated to apply for searching the path. Motivated by this motivation, a method to find the optimal path based on the A* algorithm is proposed, which is treated more easily than the numerical programming. Finally some numerical simulation results are presented.
収録刊行物
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- Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
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Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2 1155-1160, 2005-08-24
IEEE