INVESTIGADORES
SLAWIÑSKI Emanuel
congresos y reuniones científicas
Título:
Online Path Planning applied to the navigation of a mobile robot
Autor/es:
JORGE NIETO; EMANUEL SLAWIÑSKI; VICENTE MUT; BERNARDO WAGNER
Lugar:
Buenos Aires, Argentina
Reunión:
Jornada; JAR 2010; 2010
Resumen:
This paper proposes an online path-planning algorithm
based on Rapidly-Exploring Random Trees (RRT) applied to the
autonomous navigation of a mobile robot. The proposed planner
includes two heuristics to improve the performance and generates
a set of collision-free paths, from which the one with the most
similarity to a reference path given by a supervisor human operator
is chosen. This reference can be given a priori when setting the
start and goal positions, and be defined as the straight path between
them. Simulations and experiments are made to evaluate
the performance of the proposed method.