An efficient path planner for large mobile platforms in cluttered environments

Taha, T; Miró, JV; Dikai, L

An efficient path planner for large mobile platforms in cluttered environments

Taha, T Miró, JV

Dikai, L

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Publication Type:: Conference Proceeding
Citation:: 2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006
Issue Date:: 2006-12-01

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Field	Value	Language
dc.contributor.author	Taha, T	en_US
dc.contributor.author	Miró, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Dikai, L https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2006-12-01	en_US
dc.identifier.citation	2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006	en_US
dc.identifier.isbn	1424400244	en_US
dc.identifier.isbn	9781424400249	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. © 2006 IEEE.	en_US
dc.relation.ispartof	2006 IEEE Conference on Robotics, Automation and Mechatronics	en_US
dc.relation.isbasedon	10.1109/RAMECH.2006.252720	en_US
dc.title	An efficient path planner for large mobile platforms in cluttered environments	en_US
dc.type	Conference Proceeding
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Bangkok, Thailand	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/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

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. © 2006 IEEE.

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http://hdl.handle.net/10453/2902