An Efficient System for Nonholonomic Mobile Robot-Path Planning
- 10.2991/iske.2007.118How to use a DOI?
- path-planning, nonholonomic mobile robot, navigation, obstacle avoidance
This paper presents a novel simple, but efficient robot path planning algorithm, which plans the obstacle-avoidance path according to map information, makes robots reach the target. In the paper, the actual environment is discretized into a topologically organized map consisting of targets, obstacles and free spaces. We quantify the road roughness, which affects the motion of robots to the degree of pass convenience with a special mathematical model, and introduced into the model for path planning. Targets propagate the so-called “vector-distance” to whole workspace through free-space grid points in a special direction. Because the distance propagating in this way has direction and size, it is called “vector-distance”, which is constrained by the motion of nonholonomic mobile robot. So the path obtained by this algorithm is the optimal path suitable to the motion of nonholonomic mobile robot. This model is characterized by high computational efficiency, small storage cost and perfectly simulating the actual map. This algorithm can be conveniently used in practice.
- © 2007, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Xuefu Xiang AU - Jiye Zhang AU - Chenlong He PY - 2007/10 DA - 2007/10 TI - An Efficient System for Nonholonomic Mobile Robot-Path Planning BT - Proceedings of the 2007 International Conference on Intelligent Systems and Knowledge Engineering (ISKE 2007) PB - Atlantis Press SP - 689 EP - 695 SN - 1951-6851 UR - https://doi.org/10.2991/iske.2007.118 DO - 10.2991/iske.2007.118 ID - Xiang2007/10 ER -