Map updating path planning for real-time mobile robot navigation

DOIResolve DOI: http://doi.org/10.1109/IROS.1994.407553
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TypeArticle
Proceedings titleProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94.
ConferenceIEEE/RSJ/GI International Conference on Intelligent Robots Systems, September 12-16, 1994, Munich, Germany
ISBN0-7803-1933-8
Volume2
AbstractThis paper describes a navigation system which unites three important capabilities: it enables a mobile robot to avoid obstacles, map the environment, and plan local paths around more complex obstacles while navigating. This system extends and integrates the histogram grid representation and the modified A* algorithm. Our system uses the histogram grid representation and updating method to represent the robot's environment and update a map quickly and reliably with the data from a laser range scanner. Our system also uses the modified A* algorithm to search this grid to plan and replan local paths. The navigation system that we have developed enables a mobile robot to smoothly avoid obstacles while navigating towards a goal at speeds of 0.15 to 0.35 meters per second, speeds which are faster than those typically obtained in similar systems
Publication date
LanguageEnglish
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number37132
NPARC number5765552
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Record identifierb9983b4b-1334-48f1-9b79-a59213f558fa
Record created2009-03-29
Record modified2016-05-09
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