DocumentCode
381003
Title
Environment modeling based on AVBN method for mobile robot
Author
Zou Xiaobing ; Zixing, Cai
Author_Institution
Coll. of Inf. Sci. & Eng., Central South Univ. of Technol., Changsha, China
Volume
2
fYear
2002
fDate
2002
Firstpage
1205
Abstract
The paper provides an environment-modeling method based on AVBN for a mobile robot. The environment model is illustrated as an AVBN (approximate Voronoi boundary network) constructed by enlarging the obstacle raster. Such topological model´s connectivity is ensured by adding virtual obstacles. The number of AVBN´s nodes is less than that of the generalized Voronoi diagram method, so the complexity of the path planning problem is reduced largely in comparison with the last method.
Keywords
computational geometry; mobile robots; path planning; approximate Voronoi boundary network; complexity; environment modeling; mobile robot; obstacle raster; path planning; topological model connectivity; virtual obstacles; Educational institutions; Information science; Intelligent control; Mobile robots; Path planning; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN
0-7803-7268-9
Type
conf
DOI
10.1109/WCICA.2002.1020771
Filename
1020771
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