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Sensor-based global planning for mobile robot navigation

Published online by Cambridge University Press:  01 March 2007

S. Garrido ,
L. Moreno ,
D. Blanco  and
M. L. Munoz
S. Garrido
Affiliation:
Carlos III University, Avd. de la Universidad, 30 28911, Leganés, Madrid, Spain
L. Moreno*
Affiliation:
Carlos III University, Avd. de la Universidad, 30 28911, Leganés, Madrid, Spain
D. Blanco
Affiliation:
Carlos III University, Avd. de la Universidad, 30 28911, Leganés, Madrid, Spain
M. L. Munoz
Affiliation:
Facultad de Informática, Universidad Politécnica de Madrid, 28660 Boadilla del Monte, Madrid, Spain
*
*Corresponding author. E-mail: moreno@ing.uc3m.es.
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Summary

The proposed algorithm integrates in a single planner the global motion planning and local obstacle avoidance capabilities. It efficiently guides the robot in a dynamic environment. This eliminates some of the traditional problems of planned architectures (model-plan-act scheme) while obtaining many of the qualities of behavior-based architectures. The computational efficiency of the method allows the planner to operate at high-rate sensor frequencies. This avoids the need for using both a collision-avoidance algorithm and a global motion planner for navigation in a cluttered environment. The method combines map-based and sensor-based planning operations to provide a smooth and reliable motion plan. Operating on a simple grid-based world model, the method uses a fast marching technique to determine a motion plan on a Voronoi extended transform extracted from the environment model. In addition to this real-time response ability, the method produces smooth and safe robot trajectories.

Keywords

Sensor-based global path plannerFast marchingmobile robotsmobile manipulators
Type
Article
Information
Robotica , Volume 25 , Issue 2 , March 2007 , pp. 189 - 199
Copyright
Copyright © Cambridge University Press 2007

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