DocumentCode
338913
Title
Navigation in partially unknown, narrow, cluttered space
Author
Strobel, Matthias
Author_Institution
Res. Inst. for Appl. Knowledge Process. FAW, Ulm, Germany
Volume
1
fYear
1999
fDate
1999
Firstpage
29
Abstract
Navigation of non-circular mobile robots in narrow, cluttered, partially unknown environments is considered. The paper introduces a planner capable of planning paths in these environments, while taking specific kinematic constraints and user defined optimality criteria into account. The planning is based on a graph, built and maintained in a variable, explicit configuration space representation of robot and workspace
Keywords
directed graphs; mobile robots; path planning; robot kinematics; tree searching; configuration space representation; kinematic constraints; navigation; noncircular mobile robots; partially unknown narrow cluttered space; user defined optimality criteria; Computational geometry; Mobile robots; Motion planning; Navigation; Orbital robotics; Path planning; Robot kinematics; Robot sensing systems; Sensor systems; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.769926
Filename
769926
Link To Document