An efficient path planner for large mobile platforms in cluttered enviornments

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dc.contributor.author Taha, T
dc.contributor.author Valls Miro, J
dc.contributor.author Liu, D
dc.contributor.editor N/A
dc.date.accessioned 2009-11-09T05:37:01Z
dc.date.issued 2006-01
dc.identifier.citation Proceedings of the 2006 IEEE International Conference on Robotics, Automation Mechatronics (RAM), 2006, pp. 225 - 230
dc.identifier.isbn 1-4244-0025-2
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
dc.publisher IEEE
dc.relation.hasversion Accepted manuscript version
dc.relation.isbasedon 10.1109/RAMECH.2006.252720
dc.title An efficient path planner for large mobile platforms in cluttered enviornments
dc.type Conference Proceeding
dc.parent Proceedings of the 2006 IEEE International Conference on Robotics, Automation Mechatronics (RAM)
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 IEEE Conference on Robotics, Automation and Mechatronics
dc.conference.location Bangkok, Thailand en_US
dc.for 091007 Manufacturing Robotics and Mechatronics (Excl. Automotive Mechatronics)
dc.for 091303 Autonomous Vehicles
dc.personcode 000350
dc.personcode 040408
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.date.activity 2007-06-07
dc.location.activity Bangkok, Thailand en_US
dc.description.keywords collision avoidance mobile robots motion control motion estimation
pubs.embargo.period Not known
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 Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
pubs.consider-herdc true
utslib.collection.history General (ID: 2)


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