The Studies of Prison Breakers’ Problem

• Main Authors: Lin, ChengLi, 林承勵
• Other Authors: 方鄒昭聰
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/38757061432587112945

碩士 === 國立臺北大學 === 資訊管理研究所 === 99 === This paper addresses collision-free path planning algorithms, based on a higher geometry maze routing (HGMR) algorithm, for mobile robots with different velocities in a two- dimensional (2D) dynamic environment. The “Prison Breakers’ Problem” is defined as special type of path planning where mobile robots (criminals) are to escape from a dynamic environment (prison) that include searchlights, guards with lights, movable obstacles and weighted regions with unpredictable speeds and directions. In the proposed approach, starting from a top view of terrains with fixed and movable obstacles and weighted regions, the safety margins of guards and movable obstacles are obtained by virtually expanding the movable obstacles via a higher geometry maze routing algorithm. Then the same algorithm is applied to obtain collision-free escaping paths for different robots. The computational complexity of the proposed method linearly depends on the space cell number. The effectiveness of the proposed approach is demonstrated by simulation studies.