Abstract
This paper addresses the collision-free path planning problem for mobile robots, that operate in a structured environment. The collision avoidance algorithm proposed is based on the geometric description of all the objects (as polyhedra), and the geometric and kinematic description of the mobile robot. The algorithm transforms the obstacles so that they represent the locus of forbitten positions for a reference point that stands for the mobile robot. The generation of the locus of forbitten positions is based on an efficient “prunning” method developed here, and paths here are found by searching a network between known start and goal points.
The above algorithm implemented in the Intelligent Robotics and Control Unit., and evaluated by simulating the generation of obstacles on a graphics monitor. Therefore comparative results were obtained, by means of time and optimal length measures.
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© 1992 Springer Science+Business Media Dordrecht
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Hatzivasiliou, F.V., Tzafestas, S.G. (1992). A Path Planning Method for Mobile Robots in a Structured Environment. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_30
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DOI: https://doi.org/10.1007/978-94-011-2526-0_30
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