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Path planning of wheeled mobile robot with simultaneous free space locating capability

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Abstract

This paper presents a hybrid path planning algorithm for the design of autonomous vehicles such as mobile robots. The hybrid planner is based on Potential Field method and Voronoi Diagram approach and is represented with the ability of concurrent navigation and map building. The system controller (Look-ahead Control) with the Potential Field method guarantees the robot generate a smooth and safe path to an expected position. The Voronoi Diagram approach is adopted for the purpose of helping the mobile robot to avoid being trapped by concave environment while exploring a route to a target. This approach allows the mobile robot to accomplish an autonomous navigation task with only an essential exploration between a start and goal position. Based on the existing topological map the mobile robot is able to construct sub-goals between predefined start and goal, and follows a smooth and safe trajectory in a flexible manner when stationary and moving obstacles co-exist.

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Authors and Affiliations

  1. Unified Graduate School of Tokai University, Hiratsuka, Japan

    Ya-Chun Chang

  2. Department of Precision Engineering, Tokai University, Hiratsuka, Japan

    Yoshio Yamamoto

Authors
  1. Ya-Chun Chang
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  2. Yoshio Yamamoto
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Correspondence to Ya-Chun Chang.

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Chang, YC., Yamamoto, Y. Path planning of wheeled mobile robot with simultaneous free space locating capability. Intel Serv Robotics 2, 9–22 (2009). https://doi.org/10.1007/s11370-008-0033-4

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  • DOI: https://doi.org/10.1007/s11370-008-0033-4

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