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An approach to motion planning of indoor mobile robots


Maček, Kristijan; Petrović, Ivan; Ivanjko, Edouard
An approach to motion planning of indoor mobile robots // Proceedings of IEEE ICIT'03 - International Conference on Industrial Technology
Maribor, Slovenija, 2003. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
An approach to motion planning of indoor mobile robots

Autori
Maček, Kristijan ; Petrović, Ivan ; Ivanjko, Edouard

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of IEEE ICIT'03 - International Conference on Industrial Technology / - Maribor, Slovenija, 2003

Skup
IEEE ICIT'03 - International Conference on Industrial Technology

Mjesto i datum
Maribor, Slovenija, 10-12.12.2003

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
obstacle avoidance; path planning; path following; mobile robots

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
0036018

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Ivan Petrović (autor)

Avatar Url Kristijan Maček (autor)

Avatar Url Edouard Ivanjko (autor)

Citiraj ovu publikaciju

Maček, Kristijan; Petrović, Ivan; Ivanjko, Edouard
An approach to motion planning of indoor mobile robots // Proceedings of IEEE ICIT'03 - International Conference on Industrial Technology
Maribor, Slovenija, 2003. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Maček, K., Petrović, I. & Ivanjko, E. (2003) An approach to motion planning of indoor mobile robots. U: Proceedings of IEEE ICIT'03 - International Conference on Industrial Technology.
@article{article, year = {2003}, keywords = {obstacle avoidance, path planning, path following, mobile robots}, title = {An approach to motion planning of indoor mobile robots}, keyword = {obstacle avoidance, path planning, path following, mobile robots}, publisherplace = {Maribor, Slovenija} }