Probabilistic road maps with obstacle avoidance in cluttered dynamic environment

Al-Hmouz, R; Gulrez, T; Al-Jumaily, A

Probabilistic road maps with obstacle avoidance in cluttered dynamic environment

Al-Hmouz, R

Gulrez, T Al-Jumaily, A

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04, 2004, pp. 241 - 245
Issue Date:: 2004-12-01

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Field	Value	Language
dc.contributor.author	Al-Hmouz, R https://orcid.org/0000-0001-8710-0706	en_US
dc.contributor.author	Gulrez, T	en_US
dc.contributor.author	Al-Jumaily, A https://orcid.org/0000-0003-0297-2463	en_US
dc.date.issued	2004-12-01	en_US
dc.identifier.citation	Proceedings of the 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04, 2004, pp. 241 - 245	en_US
dc.identifier.isbn	0780388933	en_US
dc.identifier.isbn	9780780388932	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2460
dc.description.abstract	This 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 cluttered dynamic environment. The PRM approach uses a fast and simple local planner to build a network representation of the configuration space. It is trading off the distance to both static objects and moving obstacles in compute the travelled path. Our work has been implemented and tested on Player / Stage, real time robotic software, in extensive simulation runs. The different experiments that runs had 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. © 2004 IEEE.	en_US
dc.relation.ispartof	Proceedings of the 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04	en_US
dc.title	Probabilistic road maps with obstacle avoidance in cluttered dynamic environment	en_US
dc.type	Conference Proceeding
utslib.for	0902 Automotive Engineering	en_US
dc.location.activity	Melbourne, Australia	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This 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 cluttered dynamic environment. The PRM approach uses a fast and simple local planner to build a network representation of the configuration space. It is trading off the distance to both static objects and moving obstacles in compute the travelled path. Our work has been implemented and tested on Player / Stage, real time robotic software, in extensive simulation runs. The different experiments that runs had 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. © 2004 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/2460