Title :
Departability motion for car-like robot based on GVG roadmap
Author :
Yuan, Quan ; Lee, Jiyeong ; Han, Changsoo
Author_Institution :
Dept. of Mech. Eng., Hanyang Univ., Ansan, South Korea
Abstract :
This paper presents an algorithm, based on conventional GVG that enables a car-like robot find a collision free path from depart configuration to some goal position in an environment containing some convex obstacles. Prior research on GVG prescribed path for a circular robot. The circular robot is holonomic system, but this time GVG is used in nonholonomic system. The proposed algorithm enables the car-like robot depart the GVG to the goal position with the nonholonomic path.
Keywords :
collision avoidance; mobile robots; GVG roadmap; car-like robot; collision free path; convex obstacles; depart configuration; departability motion; goal position; holonomic system; nonholonomic path; Collision avoidance; Mobile robots; Planning; Robot kinematics; Robot sensing systems; Turning; GVG roadmap; convex set; departability; nonholonomic; sensor based;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
