𝔖 Bobbio Scriptorium
✦   LIBER   ✦

A fast motion planning algorithm for a mobile robot using a distance transformation image

✍ Scribed by Donguk Shin

Publisher
John Wiley and Sons
Year
1994
Tongue
English
Weight
893 KB
Volume
25
Category
Article
ISSN
0882-1666

No coin nor oath required. For personal study only.

✦ Synopsis

Abstract

This paper proposes a new high‐speed motion planning algorithm for the mobile robot functioning on the distance‐transformation image. The method utilizes the property that the value of the distance transformation image represents the distance from the obstacle. By the proposed method, the robot can move by translation to the farthest possible point only by examining a small number of points on the straight‐line of the progress. This makes it possible to realize the fast motion planning. When a deadlock is produced, a new posture of the robot is determined at the position so that the collision with the obstacle does not occur. Then, the part of the motion down to the initial point is regenerated.

Finally, the speed of the proposed algorithm is compared to that of the conventional motion planning algorithm, and the fast operation is demonstrated experimentally.

πŸ“œ SIMILAR VOLUMES

A motion planning and execution system f
A motion planning and execution system for mobile robots driven by stepping motors
✍ Hartmut Weber πŸ“‚ Article πŸ“… 2000 πŸ› Elsevier Science 🌐 English βš– 479 KB

This paper describes motion planning and motion execution for a mobile robot driven by two individually controlled stepping motors. Movements with a constant amount of path velocity, starting from any position and orientation and ending at any goal position, are planned in two phases. The result of

On the advantages of combining different
On the advantages of combining differential algorithms and log-polar vision for detection of self-motion from a mobile robot
✍ JosΓ© A. Boluda; Juan Domingo πŸ“‚ Article πŸ“… 2001 πŸ› Elsevier Science 🌐 English βš– 288 KB

This paper describes the design and implementation on programmable hardware (FPGAs) of an algorithm for the detection of self-mobile objects as seen from a mobile robot. In this context, 'self-mobile' refers to those objects that change in the image plane due to their own movement, and not to the mo