Given a route to a destination, a mobile robot still needs to locally plan a path to avoid collisions in continuously changing environment, e.g., a hall with pedestrians and moving obstacles. In this paper, diffusion maps are applied to find a local path for reaching a goal and avoiding collisions simultaneously. The proposed path planning algorithm plans a local path by utilizing a receding horizon approach, and therefore the algorithm repeats planning at every sample time. With this approach, mobile robots do not have to carry a prior map all the time because updated environment information is used for planning at every sample time. Extensive simulation is performed in different scenarios and demonstrates a good performance in collision avoidance.


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    Titel :

    Dynamic Diffusion Maps-based Path Planning for Real-time Collision Avoidance of Mobile Robots


    Beteiligte:
    Hong, Sanghyun (Autor:in) / Lu, Jianbo (Autor:in) / Filev, Dimitar P. (Autor:in)


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    2399106 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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