Skip to main content

Mobile robot path planning and execution based on a diffusion equation strategy

Buy Article:

$63.00 plus tax (Refund Policy)

Abstract:

This paper discusses a method for map and sensor-based planning and execution, i.e. navigation, of smooth collision-free robot motion paths. Application of an unsteady diffusion equation strategy to path planning in a time-varying world distinguishes this approach from prior work in the field. Collision-free robot paths between a start and a mission-dependent goal point are generated very rapidly by on-line simulation of a diffusion process and by repetitively evaluating the gradient of the computed concentration distribution functions. Related numerical algorithms are appropriate for a massively parallel implementation. The paper also describes applications of the approach to various scenarios of robot vehicle navigation. The results of a field experiment performed with a mobile robot are presented, and the usefulness of the approach for robot arm path planning in configuration space is demonstrated.

Document Type: Research Article

DOI: https://doi.org/10.1163/156855393X00302

Affiliations: Department for Automatic Control Engineering (LSR), Technische Universität München D-80290 München, Germany

Publication date: 1992-01-01

  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more