Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1016/j.robot.2011.12.004 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Path planning,Car-like robot,Nonholonomic robot,Path following | Motion planning,Robot control,Computer vision,Any-angle path planning,Robot calibration,Computer science,Simulation,Artificial intelligence,Mobile robot navigation,Robot,Arm solution,Computational complexity theory | Journal |
Volume | Issue | ISSN |
60 | 4 | 0921-8890 |
Citations | PageRank | References |
9 | 0.66 | 16 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Narcis Ghita | 1 | 12 | 1.06 |
| Marius Kloetzer | 2 | 476 | 29.21 |