A Practical Roadmap for the Path Planning of Mobile Robots in Rectilinear Environments
In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, w...
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| creator | Nakju Lett Doh Chanki Kim Sangik Na Won-Pil Yu Youngjo Cho Wan Kyun Chung |
| description | In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural |
| doi_str_mv | 10.1109/SICE.2006.315424 |
| format | Conference Proceeding |
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| identifier | ISBN: 9788995003848 |
| ispartof | 2006 SICE-ICASE International Joint Conference, 2006, p.2022-2027 |
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| language | eng |
| recordid | cdi_ieee_primary_4109019 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Batteries Buildings human-robot interaction Humans Mechanical engineering minimum energy path Mobile robots Muscles Navigation Path planning rectilinear environment roadmap time-optimal path Turning visibility graph Wheels |
| title | A Practical Roadmap for the Path Planning of Mobile Robots in Rectilinear Environments |
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