Original Scientific Paper, Volume 17, Number 4, Year 2019, No 649, pp 585 - 589

Published: Dec 10, 2019

DOI: 10.5937/jaes17-23621

MODIFIED METHOD OF A PATH PLANNing ON A LOCAL MAPS FOR TRANSPORT AND AEROSPACE ROBOTS

Bredikhina Natalia Vladimirovna 1
Bredikhina Natalia Vladimirovna
Affiliations
  Southwest State University, Kursk, Russian Federation
Titenko Evgeny Anatolyievich 1
Titenko Evgeny Anatolyievich
Affiliations
  Southwest State University, Kursk, Russian Federation
Emelyanov Sergey Gennadyevich 1
Emelyanov Sergey Gennadyevich
Affiliations
  Southwest State University, Kursk, Russian Federation
Dobroserdov Oleg Guryevich 1
Dobroserdov Oleg Guryevich
Affiliations
  Southwest State University, Kursk, Russian Federation
Borzov Dmitry Borisovich 1
Borzov Dmitry Borisovich
Affiliations
  Southwest State University, Kursk, Russian Federation
Frolov Sergey Nikolaevich 1
Frolov Sergey Nikolaevich
Affiliations
  Southwest State University, Kursk, Russian Federation
Lisitsin Leonid Alexsandrovicn 1
Lisitsin Leonid Alexsandrovicn
Affiliations
  Southwest State University, Kursk, Russian Federation
Sazonov Sergey Yuryevich 1
Sazonov Sergey Yuryevich
Affiliations
  Southwest State University, Kursk, Russian Federation
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Abstract

In this paper we consider the modification of the method of planning the A-star path for transport and aerospace robots. It is necessary to take into account obstacles in the local neighborhood of aerospace robot, but not sufficient for the rational path planning. The essence of the modification is to use additional information about the features of original cell array. This additional information is represented by binary flags. They represent obstacle-free rows and matrix columns. The modification allows you to build paths that include straight sections of free cells. The main feature of this method is the use of bitwise logical operations on cell values.

Keywords

robotics planning Path modifi cation maps Aerospace additives

Acknowledgements

The research is performed within a State Assignment in 2019 (№2.9102.2017/BCH).

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