Title :
Trajectories optimization by environment acquisition for autonomous mobile robots
Author :
Devie, F. ; Dupourqué, V. ; Djalo, H. ; Vabre, J.P.
Author_Institution :
DEC Inst. Nat. des Telecommun., Evry, France
Abstract :
The importance of environment acquisition in free-path finding trajectories in mobile robotics is discussed. A technique is proposed to allow the operator to perform environment acquisition by means of HAMID (heuristics for autonomous mobiles with integrated design). Both the breadth-first search (BS) and the depth-first search (DS) are applied to this representation for free-path finding trajectories. Clothoid insertion to smooth the chosen trajectories is discussed
Keywords :
mobile robots; optimisation; path planning; position control; search problems; HAMID; autonomous mobile robots; breadth-first search; clothoid insertion; depth-first search; environment acquisition; free-path finding trajectories; heuristics for autonomous mobiles with integrated design; trajectory optimisation; Costs; Equations; Graph theory; Hydrogen; Job design; Mobile robots; Orbital robotics; Security;
Conference_Titel :
CompEuro '93. 'Computers in Design, Manufacturing, and Production', Proceedings.
Conference_Location :
Pris-Evry
Print_ISBN :
0-8186-4030-8
DOI :
10.1109/CMPEUR.1993.289838
