An approach to motion planning of indoor mobile robots (CROSBI ID 491267)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Maček, Kristijan ; Petrović, Ivan ; Ivanjko, Edouard
engleski
An approach to motion planning of indoor mobile robots
In this paper we propose an approach to motion planning of indoor mobile robots based on integration of A* path planning algorithm and dynamic window local obstacle avoidance method. A simple and efficient procedure to selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementally updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX robot using laser range sensor.
obstacle avoidance ; path planning ; path following ; mobile robots
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Podaci o prilogu
969-973.
2003.
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objavljeno
Podaci o matičnoj publikaciji
Proceedings of IEEE ICIT 2003 - International Conference on Industrial Technology
Maribor:
Podaci o skupu
IEEE ICIT 2003 - International Conference on Industrial Technology
predavanje
10.12.2003-12.12.2003
Maribor, Slovenija