Abstract
Much of the focus of the research effort in path planning for mobile robots has centred on the problem of finding a path from a start location to a goal location, while minimising one or more parameters such as length of path, energy consumption or journey time. Most of the experimental results reported in the literature have centred on simulation results. Only a small subset of the reported results have been implemented on real autonomous mobile robots. It is the goal of our research program to develop path planning algorithms whose correctness and robustness can be tested and verified by implementation on our experimental, self-contained and autonomous mobile robot — the Yamabico.
Preview
Unable to display preview. Download preview PDF.
References
S. Yuta, S. Suzuki and S. Ilda, "Implementation of a Small Size Experimental Self-Contained Autonomous Robot — Sensors, Vehicle Control, and Description of Sensor based Behaviour", Proceedings of 2nd International Symposium on Experimental Robotics, June 25–27, 1991, Toulouse, France.
R. Chatila, "Path Planning and Environment Learning", European Conference on Artificial Intelligence, pp211–215, July 1982.
J.L. Crowley, "Navigation for an Intelligent Mobile Robot", IEEE Journal of Robotics and Automation, RA-1 No. 1, pp31–41, March 1985.
H.P. Moravec, "Obstacle Avoidance and Navigation in the Real World by a Seeing Rover", Phd dissertation, Stanford University, September 1980.
C.E. Thorpe, "FIDO:Vision and Navigation for a Robot Rover", Phd dissertation, Carnegie Mellon University, Department of Computer Science, December 1984.
O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots", International Journal of Robotics Research, Vol. 5 No.1, pp90–98, 1986.
Y. Koren and J. Borenstein, "Potential Field Methods and their Inherent Limitations for Mobile Robot Navigation", Proceedings of IEEE International Conference on Robotics and Automation, pp1398–1404, April 1991.
J. Boreinstein and Y. Koren, "Real-Time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environments", Proceedings of IEEE International Conference on Robotics and Automation, May 1990, Cincinatti, pp 572–577.
R. Chattergy, "Some Heuristics for the Navigation of a Robot", International Journal of Robotics Research, Vol. 4 No. 1, pp59–66, 1985.
A. Zelinsky, "Environment Exploration and Path Planning Algorithms for a Mobile Robot using Sonar", Phd dissertation, University of Wollongong, Department of Computer Science, October 1991.
S. Suzuki, M.K. Habib, J. Iijima and S. Yuta, "How to Describe the Mobile Robot's — Sensor based Behaviour?", Journal of Robotics and Autonomous Systems, No.7, 1991, North-Holland, pp 227–237.
K, Nagatani and S. Yuta, "Path and Sensing Point Planning for Mobile Robot Navigation to Minimize the Risk of Collision", Proceedings of International Conference on Intelligent Robots and Systems (IROS), July 26–30, 1993, Yokohama, pp2198–2206.
R.A. Jarvis and J.C. Byrne, "Robot Navigation: Touching, Seeing and Knowing", Proceedings of 1st Australian Conference on Artificial Intelligence, November 1986.
J. Barraquand and J.-C. Latombe, "Robot Motion Planning: A Distributed Representation Approach", International Journal of Robotics Research Vol. 10 No.6, pp628–649, 1991.
K. Kimoto and S. Yuta, "A Simulator for Programming the Behavior of an Autonomous Sensor-Based Mobile Robot", Proceedings of International Conference on Intelligent Robots and Systems (IROS), July 7–10, 1992, Raleigh, pp 1431–1438.
A. Zelinsky, R.A. Jarvis, J.C. Byrne and S. Yuta, "Planning Paths of Complete Coverage of an Unstructured Environment by a Mobile Robot", to be presented, International Conference of Advanced Robotics — ICAR '93, November 2–5, 1993, Tokyo.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1994 Springer-Verlag London Limited
About this paper
Cite this paper
Zelinsky, A., Yuta, S. (1994). A unified approach to planning, sensing and navigation for mobile robots. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027613
Download citation
DOI: https://doi.org/10.1007/BFb0027613
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19905-2
Online ISBN: 978-3-540-39355-9
eBook Packages: Springer Book Archive