کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
412529 | 679650 | 2012 | 11 صفحه PDF | دانلود رایگان |

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.
Journal: Robotics and Autonomous Systems - Volume 60, Issue 4, April 2012, Pages 609–619