Mobile robot motion planning by reasoning both at itinerary and path levels

García, Farid; Mampey, R.

doi:10.1109/icar.1991.240413

Cited by 6 publications

(2 citation statements)

References 7 publications

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“…The global methods need complete information of the environment and they are based on a global world representation. Examples of this approach are the grid of visits, 1 the numeric potential fields, 2 the graphs using the A* algorithm (graphs of visibility, 3 of tangents, 4 Voronoï 5 ) the behavior-based models 6 and the genetic algorithms, 7 among others. These approaches guarantee that either the goal position will be reached, thus the path planning problem has a solution, or the methods will entirely analyze the free space and conclude that the goal position is unreachable.…”

Section: Introductionmentioning

confidence: 99%

Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space

Ramirez

Zeghloul

2001

Robotica

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This paper presents a collision-free path planner for mobile robot navigation in an unknown environment subject to nonholonomic constraints. This planner is well adapted for use with embarked sensors, because it uses only the distance information between the robot and the obstacles. The collision-free path-planning is based on a new representation of the obstacles in the velocity space. The obstacles in the influence zone are mapped as linear constraints into the velocity space of the robot, forming a convex subset that represents the velocities that the robot can use without collision with the objects. The planner is composed by two modules, termed “reaching the goal” and “boundary following”. The major advantages of this method are the very short calculation time and a continuous stable behavior of the velocities. The results presented demonstrate the capabilities of the proposed method for solving the collision-free path-planning problem.

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Section: Introductionmentioning

confidence: 99%

Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space

Ramirez

Zeghloul

2001

Robotica

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show abstract

“…Various researches have been carried out and various techniques have been proposed for this. Numeric potential fields [1], grid visits [2] ,genetic algorithm [3], behavior based model [4] , graphs [5][6][7] etc. are among the proposed and used methods.…”

Section: A) Global Path Planningmentioning

confidence: 99%

Optimizing Mobile Robot Path Planning and Navigation by Use of Differential Evolution

Samal¹

2013

IOSR-JMCE

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A New Local Path Planner for a Nonholonomic Wheeled Mobile Robot in Cluttered Environments

Ramirez

Zeghloul

2000

Romansy 13

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Mobile robot motion planning by reasoning both at itinerary and path levels

Cited by 6 publications

References 7 publications

Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space

Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space

Optimizing Mobile Robot Path Planning and Navigation by Use of Differential Evolution

A New Local Path Planner for a Nonholonomic Wheeled Mobile Robot in Cluttered Environments

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