Abstract
This paper addresses the collision-free path planning problem for mobile robots, that operate in a structured environment. The collision avoidance algorithm proposed is based on the geometric description of all the objects (as polyhedra), and the geometric and kinematic description of the mobile robot. The algorithm transforms the obstacles so that they represent the locus of forbitten positions for a reference point that stands for the mobile robot. The generation of the locus of forbitten positions is based on an efficient “prunning” method developed here, and paths here are found by searching a network between known start and goal points.
The above algorithm implemented in the Intelligent Robotics and Control Unit., and evaluated by simulating the generation of obstacles on a graphics monitor. Therefore comparative results were obtained, by means of time and optimal length measures.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Tomas L. Perez & Michael A. Wesley, An Algorithm for Planning Collision — Free Paths Among Polyhedral Obstacles, Communications of the Acm, Oct. 1979, Volume 22, Num.10, pp.560–570.
Fu, Gonzales, Lee, Robotics, Mc Graw Hill
R. A. Brooks, Solving the find path problem by good representation of free space, IEEE Trans. System, Man & Cyber., vol SMC-13, no 3, pp.190–197, Mar./Apr. 1983.
S. K. Kambhampari & LS. Davis, Multiresolution path planning for mobile robots, IEEE J. Robotics Automat., vol. RA-2, no 3, pp. 135–145, Sept. 1986.
S. M. Udupa, Collision Detection & avoidance in computer controlled manipulators, Proc. 5th Intern. Conf. on Artificial Intelligence,MIT, Cambridge, MA, Aug. 1977, pp.737–748.
R. A. Brooks & Lor. Perez, A subdivision Algorithm in Configuration Space for Findpath with Rotation, IEEE Trans. System, Man & Cyber., vol SMC-15, No.2, March/April 1985,pp.224–233.
M. Gondran, M. Minoux & S. Vajda, Graphs & Algorithms, New York, NY: Wiley, 1984.
O. Takahashi & R. Schilling, Motion Planning in a Plane Using Generalized Voronoi Diagrams, IEEE Trans. Robotics Automat., Vol.5, No 2, April 1989, pp.143–150.
L. Gewali, S. Ntafos & I. G. Tollis, Path Planning in the Preesence of Vertical Obstacles, IEEE Trans. Robotics Automat., Vol.6. No.3, June 1990, pp.331–341.
N. Ayache & O. Faugeras, Maintaning Representations of the environment of a Mobile Robot, IEEE Trans. Robotics Automat., Vol.5, No 6, Dec.1989, pp.804–819.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1992 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Hatzivasiliou, F.V., Tzafestas, S.G. (1992). A Path Planning Method for Mobile Robots in a Structured Environment. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_30
Download citation
DOI: https://doi.org/10.1007/978-94-011-2526-0_30
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5115-6
Online ISBN: 978-94-011-2526-0
eBook Packages: Springer Book Archive