Probabilistic Road Maps with Obstacle Avoidance in Cluttered Dynamic Environment

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dc.contributor.author Al-Hmouz, Rami en_US
dc.contributor.author Gulrez, Tauseef en_US
dc.contributor.author Al-Jumaily, Adel Ali en_US
dc.contributor.editor Palaniswami, M. en_US
dc.date.accessioned 2009-11-09T05:35:44Z
dc.date.available 2009-11-09T05:35:44Z
dc.date.issued 2004 en_US
dc.identifier 2004001978 en_US
dc.identifier.citation Al-Jumaily Adel, Al-Hmouz Rami, and Gulrez Tauseef 2004, 'Probabilistic Road Maps with Obstacle Avoidance in Cluttered Dynamic Environment', IEEE, Melbourne, Australia, pp. 241-246. en_US
dc.identifier.issn 0-7703-8894-1 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/2460
dc.description.abstract The paper presents an experimental study of a probabilistic road map (PRM) based obstacle avoiding algorithm, for motion planning of a non-holonomic mobile robot in a cluttered dynamic environment. The PRM approach uses a fast and simple local planner to build a network representation of the configuration space. It trades off the distance to both static objects and moving obstacles in computing the travelled path. Our work has been implemented and tested on Player/Stage, a real time robotic software, in extensive simulation runs. The different experiments demonstrate that our approach is well suited to control the motions of a robot in a cluttered environment and demonstrates its advantages over other techniques. en_US
dc.publisher IEEE en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/ISSNIP.2004.1417469 en_US
dc.title Probabilistic Road Maps with Obstacle Avoidance in Cluttered Dynamic Environment en_US
dc.parent 2004 International Conference on Intelligent Sensors, Sensor Networks and Information Processing Proceedings en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Melbourne, Australia en_US
dc.identifier.startpage 241 en_US
dc.identifier.endpage 246 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference.location Melbourne, Australia en_US
dc.for 090200 en_US
dc.personcode 011083 en_US
dc.personcode 10213268 en_US
dc.personcode 10116465 en_US
dc.percentage 100 en_US
dc.classification.name Automotive Engineering en_US
dc.classification.type FOR-08 en_US
dc.custom International Conference on Intelligent Sensors, Sensor Networks and Information Processing en_US
dc.date.activity 20041214 en_US
dc.location.activity Melbourne, Australia en_US
dc.description.keywords collision avoidance , mobile robots , path planning , probability en_US


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