Naslov
Mobile robot path planning using exact cell decomposition and potential field methods

Autori
Glavaški, Dušan ; Volf Mario ; Bonković Mirjana

Izvornik
WSEAS Transactions on Circuits and Systems (1109-2734) 8 (2009), 9; 789-800

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
path planning; mobile robot; exact cell decomposition; potential field

Sažetak
When studying mobile robotics and robot motion planning, there is always a gap which exists between theoretical achievements and practical considerations of the described methods. This paper clearly overrides the mentioned problem describing minutely the procedures necessary for practical implementations. Moreover, the known algorithms were optimized to reduce computational time. Also, two classic path planning rocedures have been explained and adopted for the simulation in the Matlab and MobileSim environment. The algorithms have been presented together with their pseudo codes. The simulation results clearly show the advantages and drawbacks of each of the method.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA