An efficient path planner for large mobile platforms in cluttered enviornments

UTSePress Research/Manakin Repository

Search UTSePress Research


Advanced Search

Browse

My Account

Show simple item record

dc.contributor.author Taha, Tarek en_US
dc.contributor.author Valls Miro, Jaime en_US
dc.contributor.author Liu, Dikai en_US
dc.contributor.editor N/A en_US
dc.date.accessioned 2009-11-09T05:37:01Z
dc.date.available 2009-11-09T05:37:01Z
dc.date.issued 2006 en_US
dc.identifier 2006006080 en_US
dc.identifier.citation Taha Tarek, Valls Miro Jaime, and Liu Dikai 2006, 'An efficient path planner for large mobile platforms in cluttered environments', IEEE, Piscataway, NJ, USA, pp. 225-230. en_US
dc.identifier.issn 1-4244-0025-2 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/2902
dc.description.abstract This paper presents a one step smooth and efficient path planning algorithm for navigating a large robotic platform in known cluttered environments. The proposed strategy, based on the generation of a novel search space, relies on non-uniform density sampling of the free areas to direct the computational resources to troubled and difficult regions, such as narrow passages, leaving the larger open spaces sparsely populated. A smoothing penalty is also associated to the nodes to encourage the generation of gentle paths along the middle of the empty spaces. Collision detection is carried out off-line during the creation of the configuration space to speed up the actual search for the path, which is done on-line. Results prove that the proposed approach considerably reduces the search space in a meaningful and practical manner, improving the computational cost of generating a path optimised for fine and smooth motion en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version
dc.relation.isbasedon http://dx.doi.org/10.1109/RAMECH.2006.252720 en_US
dc.subject Robotics. en
dc.title An efficient path planner for large mobile platforms in cluttered enviornments en_US
dc.parent Proceedings of the 2006 IEEE International Conference on Robotics, Automation Mechatronics (RAM) en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Piscataway, NJ, USA en_US
dc.identifier.startpage 225 en_US
dc.identifier.endpage 230 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference.location Bangkok, Thailand en_US
dc.for 091303 en_US
dc.personcode 10072559 en_US
dc.personcode 040408 en_US
dc.personcode 000350 en_US
dc.percentage 50 en_US
dc.classification.name Autonomous Vehicles en_US
dc.classification.type FOR-08 en_US
dc.custom IEEE Conference on Robotics, Automation and Mechatronics en_US
dc.date.activity 20070607 en_US
dc.location.activity Bangkok, Thailand en_US
dc.description.keywords collision avoidance mobile robots motion control motion estimation en_US
dc.staffid 000350 en_US


Files in this item

This item appears in the following Collection(s)

Show simple item record