Pregled bibliografske jedinice broj: 165562
An Integrated Approach to Motion Planning of Mobile Robots
An Integrated Approach to Motion Planning of Mobile Robots // Proceedings of the 3rd International Conference "Business Systems Management"- UPS2004 / Majstorovic, V ; Katalinic, B. ; Čović, D. ; Višekruna, V. (ur.).
Mostar: Faculty of Mechanical Engineering and Computing, Mostar, 2004. str. 177-182 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 165562 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
An Integrated Approach to Motion Planning of Mobile Robots
Autori
Petrović, Ivan ; Maček, Kristijan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 3rd International Conference "Business Systems Management"- UPS2004
/ Majstorovic, V ; Katalinic, B. ; Čović, D. ; Višekruna, V. - Mostar : Faculty of Mechanical Engineering and Computing, Mostar, 2004, 177-182
Skup
3rd International Conference "Business Systems Management"- UPS2004
Mjesto i datum
Mostar, Bosna i Hercegovina, 23.09.2004. - 24.09.2004
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
mobile robots; navigation; motion planning path planning; obstacle avoidance
Sažetak
In this paper we present a motion planning approach of indoor mobile robots based on integration of A* path planning algorithm and dynamic window loacal obstacle avoidance method. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementaly updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX mobile robot using laser range sensor.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
