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An approach to motion planning of indoor mobile robots (CROSBI ID 491267)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Maček, Kristijan ; Petrović, Ivan ; Ivanjko, Edouard An approach to motion planning of indoor mobile robots // Proceedings of IEEE ICIT 2003 - International Conference on Industrial Technology. Maribor, 2003. str. 969-973

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

Povezanost rada

Elektrotehnika

Indeksiranost