DocumentCode
1256444
Title
Multi-level path planning algorithm for autonomous robots
Author
Urdiales, C. ; Bandera, A. ; Arrebola, F. ; Sandoval, F.
Author_Institution
Dept. de Tecnologia Electron., Malaga Univ., Spain
Volume
34
Issue
2
fYear
1998
fDate
1/22/1998 12:00:00 AM
Firstpage
223
Lastpage
224
Abstract
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 decomposition in real time
Keywords
mobile robots; path planning; autonomous mobile robot; multilevel path planning algorithm; navigation; obstacle enhancement algorithm; preprocessing module; probabilistic map; pyramid structure; real time fine-coarse decomposition; sensor;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el:19980204
Filename
653215
Link To Document