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 2003 - International Conference on Industrial Technology / - Maribor, 2003, 969-973

Skup
IEEE ICIT 2003 - International Conference on Industrial Technology

Mjesto i datum
Maribor, Slovenija, 10.12.2003. - 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