Optimal Navigation for Mobile Robot in Known Environment-Reference-Cited by-同舟云学术

Optimal Navigation for Mobile Robot in Known Environment

Published:2013-01 Issue: Volume:282 Page:33-38
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Duchoň František¹,Huňady Dominik¹,Dekan Martin¹,Babinec Andrej¹

Affiliation:

1. Slovak University of Technology in Bratislava

Abstract

Optimal navigation is a subset of robot navigation in an environment. It is also known as a path planning. The aim of the optimal navigation is to choose optimal path between the initial state and the desired state of the robot. There are many methods how to choose the optimal path. In this article A* algorithm was chosen, because it is widely applied. The main idea was to propose an algorithm, which is able to select the optimal path in a typical indoor environment. Despite that our real robot uses metric maps and A* algorithm is primarily designated for the topological maps, it was verified in the experiments that this algorithm can be used for off-line path planning.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.282.33.pdf

Reference7 articles.

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2. R. Murár, L. Jurišica, Representation of mobile robot systems' environment (2), AT&P Journal 09/2005, 65-67.

3. H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L.E. Kavraki, S. Thrun, Principles of Robot Motion (Theory, Algorithms and Implementations), in: MIT Press, Massachusetts Institute of Technology, Cambridge, 2005, pp.39-196.

4. T. Niemuller, S. Widyadharma, Artificial Intelligence – An Introduction to Robotics, proseminar Artificial Intelligence, 2003, available at http: /www. niemueller. de/uni/roboticsintro/AI-Robotics. pdf.

5. T. Bräunl, Embedded Robotics (Mobile Robot Design and Applications with Embedded Systems), in: Sprineger-Verlag Berlin Heidelberg, New York, 2006, pp.210-211.

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