Title :
Navigation in partially unknown, narrow, cluttered space
Author :
Strobel, Matthias
Author_Institution :
Res. Inst. for Appl. Knowledge Process. FAW, Ulm, Germany
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769926
