A Corporative System of Edge Mapping and Hybrid Path A*-Douglas-Pucker Algorithm Planning Method
Wahab Kareem Yousif, Ahmed Abdulhsein Ali · Journal of Southwest Jiaotong University · 2019
This paper proposes a corporative system of the edge mapping and hybrid path planning. The mapping process is predicated on modified canny edge detection algorithm. The presented mapping algorithm is found to be adaptable to various scenarios; it is tested on several cases to extract the impediments as well as the constrained region of the map. The generated map is a 2D edge map that contains the information about starting point, goal and obstacles. After that, the outcome of the edge map is processed in path planning algorithm in order to identify the optimum path. The proposed path planning is a hybrid A*-Douglas pucker algorithm. The presented path planning algorithm is reduced the set points and computational time.