An Efficient System for Nonholonomic Mobile Robot-Path Planning

DOI

10.2991/iske.2007.118How to use a DOI?

Keywords

path-planning, nonholonomic mobile robot, navigation, obstacle avoidance

Abstract

This paper presents a novel simple, but efficient robot path planning algorithm, which plans the obstacle-avoidance path according to map information, makes robots reach the target. In the paper, the actual environment is discretized into a topologically organized map consisting of targets, obstacles and free spaces. We quantify the road roughness, which affects the motion of robots to the degree of pass convenience with a special mathematical model, and introduced into the model for path planning. Targets propagate the so-called “vector-distance” to whole workspace through free-space grid points in a special direction. Because the distance propagating in this way has direction and size, it is called “vector-distance”, which is constrained by the motion of nonholonomic mobile robot. So the path obtained by this algorithm is the optimal path suitable to the motion of nonholonomic mobile robot. This model is characterized by high computational efficiency, small storage cost and perfectly simulating the actual map. This algorithm can be conveniently used in practice.

Copyright

© 2007, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xuefu Xiang
AU  - Jiye Zhang
AU  - Chenlong He
PY  - 2007/10
DA  - 2007/10
TI  - An Efficient System for Nonholonomic Mobile Robot-Path Planning
BT  - Proceedings of the 2007 International Conference on Intelligent Systems and Knowledge Engineering (ISKE 2007)
PB  - Atlantis Press
SP  - 689
EP  - 695
SN  - 1951-6851
UR  - https://doi.org/10.2991/iske.2007.118
DO  - 10.2991/iske.2007.118
ID  - Xiang2007/10
ER  -