Details
| Original language | English |
|---|---|
| Pages | 1922-1927 |
| Number of pages | 6 |
| Publication status | Published - 30 Oct 2015 |
| Event | 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015 - Gran Canaria, Spain Duration: 15 Sept 2015 → 18 Sept 2015 |
Conference
| Conference | 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015 |
|---|---|
| Country/Territory | Spain |
| City | Gran Canaria |
| Period | 15 Sept 2015 → 18 Sept 2015 |
Abstract
A new generalized path corridor-based local planner for a nonholonomic mobile robot is proposed to avoid dynamic obstacles while following the lead of a global path. Rather than applying the global path directly, the proposed local planner will transform the global path into a normative path. Then, a generalized path corridor (GPC) is constructed based on the normative path. GPC defines the maximum free space along the normative path for local path planning. This avoids the local planner searching the entire space but still provides enough flexibility to deal with the dynamic obstacles. Additionally, a new type of heuristic cost is also proposed, which is measured based on the distance from the current location to the goal along the normative path. The integration of the normative path-based heuristic makes the local path planning more goal-oriented and helps the robot to navigate through the GPC and reach the goal more effectively.
ASJC Scopus subject areas
- Engineering(all)
- Automotive Engineering
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
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2015. 1922-1927 Paper presented at 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015, Gran Canaria, Spain.
Research output: Contribution to conference › Paper › Research › peer review
}
TY - CONF
T1 - Generalized Path Corridor-based Local Path Planning for Nonholonomic Mobile Robot.
AU - Wang, Qi
AU - Wieghardt, Christian Sebastian
AU - Yan, Jiang 0003
AU - Gong, Jianwei
AU - Wagner, Bernardo
N1 - Publisher Copyright: © 2015 IEEE. Copyright: Copyright 2015 Elsevier B.V., All rights reserved.
PY - 2015/10/30
Y1 - 2015/10/30
N2 - A new generalized path corridor-based local planner for a nonholonomic mobile robot is proposed to avoid dynamic obstacles while following the lead of a global path. Rather than applying the global path directly, the proposed local planner will transform the global path into a normative path. Then, a generalized path corridor (GPC) is constructed based on the normative path. GPC defines the maximum free space along the normative path for local path planning. This avoids the local planner searching the entire space but still provides enough flexibility to deal with the dynamic obstacles. Additionally, a new type of heuristic cost is also proposed, which is measured based on the distance from the current location to the goal along the normative path. The integration of the normative path-based heuristic makes the local path planning more goal-oriented and helps the robot to navigate through the GPC and reach the goal more effectively.
AB - A new generalized path corridor-based local planner for a nonholonomic mobile robot is proposed to avoid dynamic obstacles while following the lead of a global path. Rather than applying the global path directly, the proposed local planner will transform the global path into a normative path. Then, a generalized path corridor (GPC) is constructed based on the normative path. GPC defines the maximum free space along the normative path for local path planning. This avoids the local planner searching the entire space but still provides enough flexibility to deal with the dynamic obstacles. Additionally, a new type of heuristic cost is also proposed, which is measured based on the distance from the current location to the goal along the normative path. The integration of the normative path-based heuristic makes the local path planning more goal-oriented and helps the robot to navigate through the GPC and reach the goal more effectively.
UR - http://www.scopus.com/inward/record.url?scp=84950282517&partnerID=8YFLogxK
U2 - 10.1109/itsc.2015.311
DO - 10.1109/itsc.2015.311
M3 - Paper
SP - 1922
EP - 1927
T2 - 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
Y2 - 15 September 2015 through 18 September 2015
ER -