Title :
A new roadmap approach to automatic path planning for mobile robot navigation
Author :
Ibarra-Zannatha, J.M. ; Sossa-Azuela, J.H. ; González-Hernández, H.
Author_Institution :
Dept. de Ingenieria Electrica, CINVESTAV-IPN, Mexico City, Mexico
Abstract :
This paper describes a new road map approach to find a collision-free path for an AGV (automatic guided vehicle), taking into account the smoothness, length and available space restrictions. The proposed approach uses a top view image of a room in which there are some obstacles to be avoided. First of all the obstacles in the image are thickened using morphological techniques, to obtain the free space of the room. Secondly, this space is skeletonized to obtain a graph representation of AGV workspace, enriched with geometrical information of the free space. Finally, the best path is chosen using an optimization technique with a new criteria based on length, availability of free space, curvature and smoothness
Keywords :
automatic guided vehicles; graph theory; image representation; mathematical morphology; mobile robots; navigation; optimisation; path planning; robot vision; AGV; automatic guided vehicle; automatic path planning; collision-free path; geometrical information; graph representation; mobile robot; morphological techniques; navigation; optimization; roadmap method; skeletonization; top view image; Automatic control; Automatic generation control; Birth disorders; Laboratories; Mobile robots; Navigation; Path planning; Servomechanisms; Skeleton; Wheels;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.400298
