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World representation and path planning for a mobile robot

Published online by Cambridge University Press:  09 March 2009

E. Palma-Villalon  and
P. Dauchez
E. Palma-Villalon
Affiliation:
Currently graduate student at University of California, Santa Barbara, CA 93106 (USA).
P. Dauchez
Affiliation:
LAMM-USTL, Place E. Bataillon, 34060 Montpellier Cedex, (France).
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Summary

This paper is related to the problem of navigation of a mobile robot amidst obstacles. In order to easily take into account any modification of the environment, we propose a very simple representation of the obstacles, based on the use of rectangles, as well as a matrix description of the spatial relationships between the obstacles. We also present a path planner based on a A* algorithm, the features of which are specifically designed for our world of rectangles. The cost function takes into account both the length of the path and the number of turns. Some experimental results and implementation details are also given in this paper.

Keywords

Mobile RobotPath PlanningWorld Representation
Type
Research Article
Information
Robotica , Volume 6 , Issue 1 , January 1988 , pp. 35 - 40
Copyright
Copyright © Cambridge University Press 1988

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