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Pregled bibliografske jedinice broj: 596531

Efficient Interpolated Path Planning of Mobile Robots based on Occupancy Grid Maps


Đakulović, Marija; Čikeš, Mijo; Petrović, Ivan
Efficient Interpolated Path Planning of Mobile Robots based on Occupancy Grid Maps // 10th IFAC Symposioum on Robotic Control (SYROCO2012)
Dubrovnik, 2012. str. 349-354 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Efficient Interpolated Path Planning of Mobile Robots based on Occupancy Grid Maps

Autori
Đakulović, Marija ; Čikeš, Mijo ; Petrović, Ivan

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

Izvornik
10th IFAC Symposioum on Robotic Control (SYROCO2012) / - Dubrovnik, 2012, 349-354

Skup
10th IFAC Symposioum on Robotic Control (SYROCO2012)

Mjesto i datum
Dubrovnik, Hrvatska, 5-7.09.2012.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Path planning; graph search; autonomous mobile robots

Sažetak
This paper focuses on interpolation-based path planning algorithms for mobile robot that use the occupancy grid map of the environment. Such an algorithm produces the path close to optimal solution in continuous search space, but has computational burden. We discuss on using heuristics to improve efficiency of the E* algorithm, as the interpolation-based path planning algorithm, with a trade-off of generating less optimal paths. We compare obtained paths with the almost optimal solution in continuous search space and also with the path obtained by the D* algorithm, which is a representative of the classical graph search algorithms applied on the occupancy grid map. All used algorithms are verified both by simulation and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )
285939

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb