Sensor-based navigation for car-like mobile robots based on a generalized Voronoi graph
| Autor: | Yutaka Tanaka, Iwai Yosuke, Keiji Nagatani |
|---|---|
| Rok vydání: | 2003 |
| Předmět: |
business.industry
Mobile robot Evaluation function Mobile robot navigation Computer Science Applications Computer Science::Robotics Human-Computer Interaction Hardware and Architecture Control and Systems Engineering Path (graph theory) Robot Computer vision Point (geometry) Turning radius Artificial intelligence Representation (mathematics) business Software Mathematics |
| Zdroj: | Advanced Robotics. 17:385-401 |
| ISSN: | 1568-5535 0169-1864 |
| DOI: | 10.1163/15685530360663409 |
| Popis: | Our research objective is to realize sensor-based navigation for car-like mobile robots. We adopt the generalized Voronoi graph (GVG) for the robot's local path and a map representation. It has the advantage to describe the mobile robot's path for sensor-based navigation from the point of view of completeness and safety. However, it is impossible to apply the path to car-like mobile robots directly, because the limitation of the minimum turning radius for a car-like robot may prevent it from following the GVG exactly. To solve this problem, we propose a local smooth path-planning algorithm for car-like mobile robots. Basically, an initial local path is generated by a conventional path-planning algorithm using GVG theory and it is modified smoothly by a Bezier curve to enable the car-like robots to follow it by maximizing our evaluation function. In this paper, we introduce a local smooth path-planning algorithm based on the GVG and explain the details of our evaluation function. Simulation and experimenta... |
| Databáze: | OpenAIRE |
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