Title :
Room navigation with Fans
Author :
Oldfield, Gene ; Hsia, T.C.
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Davis, CA, USA
Abstract :
This paper focuses on the planning aspects of a complete navigation system called “Fans” for mobile robots. We suppose that the robot has a connected graph of known locations, with primitive moves connecting some of the locations. The goal of the “planner” is not to generate a sequence of moves, but only to supply a table, called a path table, of next moves. The construct of the path table is based upon Adjacency Matrices. This planner is part of a simple, but complete, navigation system for circular mobile robots in rooms
Keywords :
graph theory; mobile robots; navigation; path planning; robot dynamics; Fans; adjacency matrices; circular mobile robots; connected graph; next moves; path table; planning aspects; primitive moves; room navigation system; Automatic control; Data structures; Error correction; Fans; Graph theory; Mobile robots; Navigation; Robot sensing systems; Sonar; Wheels;
Conference_Titel :
Circuits and Systems, 1997. Proceedings of the 40th Midwest Symposium on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-7803-3694-1
DOI :
10.1109/MWSCAS.1997.666182
