Multi-level path planning algorithm for autonomous robots

被引：12
|
作者：
Urdiales, C [1 ]
Bandera, A [1 ]
Arrebola, F [1 ]
Sandoval, F [1 ]
机构：
[1] Univ Malaga, ETSI Telecomunicac, Dept Tecnol Elect, E-29071 Malaga, Spain
来源：
ELECTRONICS LETTERS | 1998年 / 34卷 / 02期
关键词：
D O I：
10.1049/el:19980204
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The authors present a complete path-planning method for sensor-based navigation in an autonomous mobile robot. The environment is described by probabilistic maps processed with a new obstacle enhancement algorithm. The novelty of the approach consists of using a pyramid structure as a preprocessing module to classical path planning algorithms. This stage enhances the performance of the system, minimising the computational cost by operating in an optimal resolution level. Thus, the system is allowed to work with huge environments with a very fine-coarse descomposition in real time.
引用
收藏
页码：223 / 224
页数：2
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