ISSN:
1573-0409
Keywords:
path planning
;
vertical plane
;
unknown space
;
collision avoidance
;
virtual window
;
radial basis function
;
obstacles
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract A virtual window has been applied for real-time path planning of a mobile robot in the presence of unknown obstacles. The path planner projects a vertical plane ahead of the robot, and calculations of the space ahead and any intersections are done with respect to this window. A radial basis function is used to decipher the information on the window and to relay it to the planner. Using this technique, path planning through an unknown space can be performed which avoids collisions with obstacles present in the space. A simple method of defining an obstacle or many obstacles is also proposed by using rectangles of different sizes.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1008047425796
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