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
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;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020771
