Title :
Optimal obstacle growing in motion planning for mobile robots
Author :
Pignon, Philippe ; Hasegawa, Tsutomu ; Laumond, Jean-Paul
Author_Institution :
Electrotech. Lab., Ibaraki, Japan
Abstract :
Deals with methods using approximate cells decomposition of the configuration space in path planning for mobile robots in the plane. It is shown that optimal decomposition can be attained in the case of a polygonal robot amidst convex polygonal obstacles by choosing as reference point the center of the ring of minimal surface enclosing the robot, and gives as main result the position of this reference point
Keywords :
mobile robots; planning (artificial intelligence); approximate cells decomposition; configuration space; convex polygonal obstacles; mobile robots; motion planning; optimal decomposition; optimal obstacle growing; path planning; polygonal robot; Joining processes; Laboratories; Mobile robots; Motion planning; Orbital robotics; Path planning; Shape; Stacking;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174542
