Paper Info
Title
A three-layered hierarchical path control system for mobile robots: Algorithms and experiments
Abstract
Autonomous operation of mobile robots in unknown cluttered environments is one of the cornerstones of future applications of autonomous systems. This paper presents a three-layered hierarchical path control system for guiding a mobile robot through an unprepared cramped workspace to a specified goal point. It is assumed that the location of the robot with respect to a fixed world frame is provided by a suitable localization algorithm. The path control consists of three modules: global planning, local navigation, and collision avoidance. Each module is restricted to a subtask of limited competence and responsibility, allowing for on-line implementation within the associated time frames. The main emphasis is placed on achieving satisfactory performance with a minimum effort in sensing and computer hardware. Experimental results with the Siemens mobile platform ROAMER illustrate the methodology and performance of the path control system in unprepared cluttered environments.
Year
DOI
Venue
1995
10.1016/0921-8890(94)00025-W
ROBOTICS AND AUTONOMOUS SYSTEMS
Keywords
DocType
Volume
INTELLIGENT AUTONOMOUS ROBOTS,3-LAYERED HIERARCHICAL PATH CONTRO,WAVE PROPAGATION,HARMONIC POTENTIAL FIELD,STEER ANGLE FIELD
Journal
14
Issue
ISSN
Citations 
2-3
0921-8890
9
PageRank 
References 
Authors
1.11
11
3
Name
Order
Citations
PageRank
Jürgen Guldner1142.70
Vadim I. Utkin221022.27
Rudolf Bauer3175.03