A heuristic planner and an executive for mobile robot control

Autor:	Yoshiaki Ichikawa, Norihiko Ozaki
Rok vydání:	1985
Předmět:	business.industry Heuristic Computer science Real-time computing General Engineering Robotics Obstacle Path (graph theory) Trajectory Robot Artificial intelligence business Heuristics Simulation
Zdroj:	IEEE Transactions on Systems, Man, and Cybernetics. :558-563
ISSN:	2168-2909 0018-9472
Popis:	A path planner and an execution system are proposed for automatic indoor guidance. The planner creates a route plan in two levels of hierarchy. The first level selects doors to pass through, minimizing the total number of doors, and the other generates a near shortest trajectory inside a room. In order to reduce search space and computation time for the planning, heuristic pruning strategies are used in a path search procedure. The execution system performs hierarchical plan repair with regard to the plan levels against unexpected events by detecting obstacles. Simulation tests are conducted to evaluate its execution behaviour with various representations of terrain, unknown obstacles, and an omnidirectional vehicle robot equipped with a sonic range finder for obstacle detection. The results exhibit the effectiveness of simple heuristics in combination with a sonic range finder that provides an adequate amount of data from multiple viewpoints.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::ea2dfe895daa2f5fc7721f77ec46889e https://doi.org/10.1109/tsmc.1985.6313423 Zobrazit plný text záznamu