Title :
Path planning system for car-like robot
Author :
Kreczmer, Bogdan
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ., Poland
Abstract :
The paper presents a path planning system consisting of two main modules. The first one seeks the part of a collision-free path for a holonomic robot. The part found is then used to create a subgoal for the second module which seeks a local path for a nonholonomic robot. The approach proposed does not apply the configuration space technique. The system allows one to find a global collision-free path for a car-like robot in an unstructured indoor environment
Keywords :
edge detection; mobile robots; object recognition; path planning; sonar; car-like robot; edge detection; global collision-free path; holonomic robot; labyrinth method; multilayer grid method; nonholonomic robot; path planning; sonar; unstructured indoor environment; Cybernetics; Data mining; Indoor environments; Orbital robotics; Path planning; Robot localization; Robot sensing systems; Shape; Sonar;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.676250
