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RimJump: Edge-based Shortest Path Planning for a 2D Map

  • Zhuo Yao (a1), Weimin Zhang (a1), Yongliang Shi (a1), Mingzhu Li (a1), Zhenshuo Liang (a1), Fangxing Li (a1) and Qiang Huang (a1)...

Summary

Path planning under 2D map is a key issue in robot applications. However, most related algorithms rely on point-by-point traversal. This causes them usually cannot find the strict shortest path, and their time cost increases dramatically as the map scale increases. So we proposed RimJump to solve the above problem, and it is a new path planning method that generates the strict shortest path for a 2D map. RimJump selects points on the edge of barriers to form the strict shortest path. Simulation and experimentation prove that RimJump meets the expected requirements.

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Copyright

This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.

Corresponding author

*Corresponding author. E-mail: zhwm@bit.edu.cn

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