DocumentCode
3398486
Title
Development of an efficient perception system and a path planning algorithm for autonomous mobile robots
Author
Matta, Sherif ; Chalhoub, Nabil G.
Author_Institution
Mech. Eng. Dept., Wayne State Univ., Detroit, MI, USA
fYear
2013
fDate
23-25 Oct. 2013
Firstpage
1
Lastpage
8
Abstract
The current work deals with the development of enabling technologies for autonomous mobile robots. A perception system, based on a laser range finder sensor, has been developed to enable robots to construct 3-D maps of their surroundings from which projected free configuration space maps are generated. These maps are then used by a computationally efficient path planning algorithm to yield the shortest possible route between the current and the user-defined final position of the robot.
Keywords
laser ranging; mobile robots; path planning; 3-D maps; autonomous mobile robots; laser range finder sensor; path planning algorithm; perception system; projected free configuration space maps; shortest possible route; user-defined final position; Algorithm design and analysis; Mobile robots; Path planning; Roads; Robot kinematics; Robot sensing systems; 3-D imaging; laser range finder (LRF); mapping; path planning; robot vision;
fLanguage
English
Publisher
ieee
Conference_Titel
Applied Imagery Pattern Recognition Workshop (AIPR): Sensing for Control and Augmentation, 2013 IEEE
Conference_Location
Washington, DC
Type
conf
DOI
10.1109/AIPR.2013.6749329
Filename
6749329
Link To Document