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Adaptative Grid for Autonomous Robot, Environment Modeling

  • V. Boschian
  • A. Pruski
  • C. Laurent
Conference paper

Abstract

This article presents the evolution space modelisation of a robot and its path planning. The static and dynamic modelisation of an environment in cells accessible or not. The path planning is based on a heuristic algorithm derived from the algorithms of LEE [LEE] and A* [HAR].

Keywords

mobile robot planning static modelization dynamic modelization path trajectory. 

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References

  1. BOS BOSCHIAN V. «Modélisation de l’environnement par grille adaptative et recherche de chemins pour robots mobiles» Thèse de Doctorat de l’Université de Metz,1990.Google Scholar
  2. HAR HART P.E.,NILSSON N.J., RAPHAEL B.«A formal Basis for the Heuristic Determina tion of Minimal Cost Paths» I.E.E.E. Transaction on S.M.C.,Juillet 68, vol.4,n.2.Google Scholar
  3. LEE LEE C Y «An Algorithm for Path Connections and itsApplications» IRE Transactions on Electronic Computer, Sept.61Google Scholar
  4. PRU PRUSKI A.,BOSCHIAN V. «Grid Modelisation for Autonomous Robot»6th Symposium on information control problems in manufacturing technology,MADRID,26–29 September 1989Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • V. Boschian
    • 1
  • A. Pruski
    • 1
  • C. Laurent
    • 1
  1. 1.Laboratoire d’Automatique et d’Electronique IndustriellesUniversité de MetzFrance

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