2P1-I07 Path Planning Strategy Integrated with Map Building Ability

概要

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This paper presents a hybrid path planning algorithm for the design of autonomous vehicles such as mobile robots. The hybrid planner is based on Potential Field method and Voronoi Diagram approach and is represented with the ability of concurrent map building and autonomous navigation. The system controller (Look-ahead control) with the Potential Field method guarantees the robot generate a smooth and safe path to an expected position. The Voronoi Diagram approach is adopted for the purpose of helping the mobile robot to avoid being trapped by concave environment while exploring a route to a target. This approach allows the robot to accomplish a minimum exploration between a start and goal position with less time cost. Based on the existing topological map the robot is able to construct sub-goals between predefined start and goal, and follows a smooth trajectory in a flexible manner under an environment where stationary and moving obstacles co-exist.
一般社団法人日本機械学会の論文
2007-05-11