Paper Info
Title
Variable-resolution state roadmap generation considering safety constraints for car-like robot
Abstract
This research develops a new graph-map method for autonomous car-like mobile robots based on variable-resolution division of space. Unlike conventional roadmaps, which include position information only, the proposed graph-map also includes orientation information of the car-like robot. In this manner, the robot is able to plan a path in detail. The orientation information of each node is not a fixed value but a range. The range is constructed by dividing the orientation space using variable-resolution, which is obtained from the surrounding situation of links that connect to the node. Finally, the proposed method is evaluated through simulations.
Year
DOI
Venue
2012
10.1109/ICSMC.2012.6378262
SMC
Keywords
Field
DocType
car-like robot,position information,roadmap,variable-resolution state roadmap generation,graph-map method,mobile robots,autonomous car-like mobile robots,orientation space,variable resolution,kinodynamic roadmap,kinodynamic motion planning,graph theory,safety constraints,orientation information,robot kinematics,trajectory,angular velocity,planning,acceleration
Graph theory,Angular velocity,Division (mathematics),Computer science,Control theory,Simulation,Robot kinematics,Real-time computing,Acceleration,Robot,Mobile robot,Trajectory
Conference
ISSN
ISBN
Citations 
1062-922X
978-1-4673-1712-2
2
PageRank 
References 
Authors
0.53
7
4
Name
Order
Citations
PageRank
Jingyu Xiang131.56
Yuichi Tazaki27610.74
Tatsuya Suzuki341.92
Blaine Levedahl452.64