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A real-time clearance-based approach for motion planning of mobile robots

Naderan Tahan, M ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1109/COGINF.2008.4639193
  3. Publisher: 2008
  4. Abstract:
  5. In this paper, two different important quality metrics, clearance and execution time, for motion planning of mobile robots are studied. Then a new approach, called Clearance-Based Probabilistic Roadmap Method (CBPRM (c)), is proposed which in contrast to VV(c) method, Visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time. This provides the CBPRM (c) to be applicable in dynamic environments which require realtime approaches. Experiments showed that the CBPRM(c) is able to generate paths with very low execution time considering determined clearance. © 2008 IEEE
  6. Keywords:
  7. Mobile robots ; Motion planning ; Robotics ; Clearance ; Dynamic environments ; Execution times ; New approaches ; PRM ; Probabilistic roadmap methods ; Quality metrics ; Real times ; Running times ; Voronoi ; Robots
  8. Source: 7th IEEE International Conference on Cognitive Informatics, ICCI 2008, Stanford University, CA, 14 August 2008 through 16 August 2008 ; 2008 , Pages 394-401 ; 9781424425389 (ISBN)
  9. URL: https://ieeexplore-ieee-org.ezp2.semantak.com/document/4639193