Path generation and mapping based on global vision for mobile robots in structured environments

Author

Hidalgo, David Alejandro Ruiz ; Hernández, Gustavo Adolfo Velasco ; Vallejo, Bayron Andrés Calvache ; Bravo, Eduardo Francisco Caicedo

Author_Institution

Ingeniero Electronico, Univ. del Valle, Cali, Colombia

fYear

2012

fDate

12-14 Sept. 2012

Firstpage

168

Lastpage

176

Abstract

This document presents the results of the implementation of three classical path planning algorithms for mobile robots in structured environments (Voronoi diagrams, visibility graphs and cell decomposition), using mobile robot platform Pioneer 3DX and a global vision system. Also this document shows a comparision of generated paths by each implemented algorithm, based on different criteria, (Path length, distance to obstacles, computational cost, smoothness), for determining strengths and weaknesses of each one.

Keywords

computational geometry; graph theory; mobile robots; path planning; robot vision; Pioneer 3DX; Voronoi diagrams; cell decomposition; global vision system; mobile robots; path generation; path mapping; path planning algorithms; structured environments; visibility graphs; Image color analysis; Image segmentation; Media; Mobile robots; Path planning; Robot sensing systems; Computer Vision; Mobile Robots; Object Recognition; Path Planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Image, Signal Processing, and Artificial Vision (STSIVA), 2012 XVII Symposium of

Conference_Location

Antioquia

Print_ISBN

978-1-4673-2759-6

Type

conf

DOI

10.1109/STSIVA.2012.6340577

Filename

6340577