Name
Title | ||
|---|---|---|
Variable-resolution velocity roadmap generation considering safety constraints for mobile robots |
Abstract | ||
|---|---|---|
This research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of a continuous state space. Unlike conventional roadmaps, which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where the velocity ranges are determined by variable-resolution partitioning of the velocity space. An ordered pair of nodes is connected by a directed link if any combination of their velocity values is within the acceptable range of the nodes and produces a trajectory satisfying a set of safety constraints. In this manner, a possible trajectory connecting an arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ROBIO.2012.6491075 | ROBIO |
Keywords | Field | DocType |
velocity value range,state-space methods,graph search technique,starting node,autonomous mobile robots,mobile robots,velocity space variable-resolution partitioning,destination node,velocity information,search problems,variable-resolution velocity roadmap generation,graph theory,safety constraints,collision avoidance,continuous state space | Graph,Ordered pair,Safety constraints,Control engineering,State space,Trajectory,Mobile robot,Mathematics,Variable resolution | Conference |
ISBN | Citations | PageRank |
978-1-4673-2125-9 | 1 | 0.35 |
References | Authors | |
7 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jingyu Xiang | 1 | 3 | 1.56 |
| Yuichi Tazaki | 2 | 76 | 10.74 |
| Tatsuya Suzuki | 3 | 4 | 1.92 |
| Blaine Levedahl | 4 | 5 | 2.64 |