Mobile robot path planning using exact cell decomposition and potential field methods (CROSBI ID 198382)
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Podaci o odgovornosti
Glavaški, Dušan ; Volf Mario ; Bonković Mirjana
engleski
Mobile robot path planning using exact cell decomposition and potential field methods
When studying mobile robotics and robot motion planning, there is always a gap which exists between theoretical achievements and practical considerations of the described methods. This paper clearly overrides the mentioned problem describing minutely the procedures necessary for practical implementations. Moreover, the known algorithms were optimized to reduce computational time. Also, two classic path planning rocedures have been explained and adopted for the simulation in the Matlab and MobileSim environment. The algorithms have been presented together with their pseudo codes. The simulation results clearly show the advantages and drawbacks of each of the method.
path planning; mobile robot; exact cell decomposition; potential field
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