Title :
Optimal path determination for a robot in a 2D workspace using quadtree modeling
Author :
Ghoshray, Sabyasachi
Author_Institution :
Dept. of Electr. & Comput. Eng., Florida Int. Univ., Miami, FL, USA
Abstract :
Avoiding collisions is the primary objective for a robot moving in a workspace with obstacles. The conventional obstacle avoidance algorithms suffer from the drawbacks due to considerable approximations and lack of flexibility. The proposed obstacle avoidance algorithms are developed based upon the geometric modeling of robot workspace using quadtree data structure. By examining the obstacle-quadtree, nodes that can allow safe passage for the mobile robot are identified. By connecting all such nodes, a set of collision-free paths are generated and subsequently the optimal path is chosen
Keywords :
mobile robots; optimal control; path planning; quadtrees; 2D workspace; collision avoidance; collision-free paths; geometric modeling; obstacle avoidance; optimal path determination; quadtree data structure; quadtree modeling; robot; robot workspace; Context modeling; Data structures; Joining processes; Mobile robots; Robot motion; Robustness; Shape; Solid modeling; Testing;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632413
