DocumentCode
583579
Title
Departability motion for car-like robot based on GVG roadmap
Author
Yuan, Quan ; Lee, Jiyeong ; Han, Changsoo
Author_Institution
Dept. of Mech. Eng., Hanyang Univ., Ansan, South Korea
fYear
2012
fDate
17-21 Oct. 2012
Firstpage
975
Lastpage
979
Abstract
This paper presents an algorithm, based on conventional GVG that enables a car-like robot find a collision free path from depart configuration to some goal position in an environment containing some convex obstacles. Prior research on GVG prescribed path for a circular robot. The circular robot is holonomic system, but this time GVG is used in nonholonomic system. The proposed algorithm enables the car-like robot depart the GVG to the goal position with the nonholonomic path.
Keywords
collision avoidance; mobile robots; GVG roadmap; car-like robot; collision free path; convex obstacles; depart configuration; departability motion; goal position; holonomic system; nonholonomic path; Collision avoidance; Mobile robots; Planning; Robot kinematics; Robot sensing systems; Turning; GVG roadmap; convex set; departability; nonholonomic; sensor based;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location
JeJu Island
Print_ISBN
978-1-4673-2247-8
Type
conf
Filename
6393366
Link To Document