Intelligent navigation for an autonomous mobile robot

The authors present a navigational algorithm for solving the problem of collision-free path planning and real-time control of an autonomous mobile robot in an environment cluttered with moving obstacles. The proposed approach is based on geometric representation/multiobjective A* search and the path...

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Bibliographic Details
Published inProceedings IEEE International Symposium on Intelligent Control 1988 pp. 366 - 369
Main Authors Rodin, E.Y., Amin, S.M.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1988
Subjects
Aircraft navigation
Algorithm design and analysis
Contracts
Control systems
Intelligent robots
Mobile robots
Motion planning
Path planning
Robot kinematics
Time varying systems
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ISBN9780818620126
0818620129
ISSN2158-9860
DOI10.1109/ISIC.1988.65458

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Summary:The authors present a navigational algorithm for solving the problem of collision-free path planning and real-time control of an autonomous mobile robot in an environment cluttered with moving obstacles. The proposed approach is based on geometric representation/multiobjective A* search and the path smoothing/steering control techniques. An attempt was made to introduce a geometric structure into a paradigm that lacked any previous structure, as well as a multiobject search technique. The proposed navigational system has the following three-level structure: identifier, goal selector, and adapter. The authors are currently implementing the algorithm on a Sun 4 artificial intelligence workstation.< >
ISBN:9780818620126
0818620129
ISSN:2158-9860
DOI:10.1109/ISIC.1988.65458