Paper Info
Title
Egress: An online path planning algorithm for boundary exploration
Abstract
We consider the problem of navigating a mobile robot that is located at any arbitrary point within a bounded environment, to a point on the environment's outer boundary and then, using the robot to explore the perimeter of the boundary. The environment can have obstacles in it and the location and size of these obstacles are not provided a priori to the robot. We present an online path planning algorithm to solve this problem that requires very simple behaviors and computation on the robot. We analytically prove that by using our algorithm, the robot is guaranteed to reach and explore the outer boundary of the environment within a finite time.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6225182
Robotics and Automation
Keywords
Field
DocType
collision avoidance,mobile robots,Egress,boundary exploration,mobile robot navigation,online path planning algorithm
Motion planning,Robot control,Social robot,Control theory,A priori and a posteriori,Algorithm,Mobile robot navigation,Engineering,Robot,Mobile robot,Computation
Conference
Volume
Issue
ISSN
2012
1
1050-4729 E-ISBN : 978-1-4673-1404-6
ISBN
Citations 
PageRank 
978-1-4673-1404-6
2
0.47
References 
Authors
5
2
Name
Order
Citations
PageRank
K. R. Guruprasad1537.99
Prithviraj Dasgupta236358.78