基于中轴线增量构造的在线运动规划

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1242040

E. Masehian, M. Amin-Naseri, S. E. Khadem

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引用次数: 13

摘要

研究了移动机器人的在线路径规划问题。我们首先提出了一种系统的方法来增量地构建工作空间的中轴线。这是通过利用传感器信息对中轴节点进行标记来实现的，这将引导机器人对未知环境进行彻底的探索。然后，在在线运动规划算法中实现了该方法。该方法可以推广到更高的空间，并且只使用声呐传感器的视线信息。它比HGVG方法简单得多，而且是完整的。在不同的环境下，仿真结果都很好。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Online motion planning using incremental construction of medial axis

This paper deals with the online path planning of mobile robots. We first suggest a systematic method to incrementally construct the Medial Axis of the workspace. This is done by using sensor information for land-marking the nodes of medial axis, which will guide the robot to explore the unknown environment thoroughly. Next, this approach is implemented in an online motion planning algorithm. This method can be generalized to higher spaces, and uses only the line of sight information of sonar sensors. It is much simpler than HGVG method, and is complete. The simulations showed good results for different environments.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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