کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412529 679650 2012 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Trajectory planning for a car-like robot by environment abstraction
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Trajectory planning for a car-like robot by environment abstraction
چکیده انگلیسی

This work proposes a fully automatic planning and control strategy for solving a navigation problem for a car-like robot with non-negligible size and constraint control inputs. The approach uses cell decompositions for abstracting the robot behavior to a final state description on which the planning problem is solved. As part of the solution, we obtain a ranking of different cell decomposition types that are suitable for planning the motion of a car-like robot. The originality of our method mainly comes from the iterative procedure for finding a feasible path based on cell decompositions. Although the approach is not complete, it benefits from a fully-automatic planning and control strategy and from a reduced computational complexity. The solution is implemented as a user-friendly freely-downloadable MATLAB package. This may come as a handy tool for employing the strategy for automatic planning and control of a car-like robot in a real scenario.


► We develop an automated method for path planning and control of a car-like robot.
► The solution is based on environment abstraction performed by cell decompositions.
► A problem-related ranking system for various cell decomposition types is presented.
► The solution is implemented as a low computational cost MATLAB package.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 60, Issue 4, April 2012, Pages 609–619
نویسندگان
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