| DOI | Resolve DOI: https://doi.org/10.1109/IROS.1994.407553 |
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| Author | Search for: Stuck, Elizabeth R.1; Search for: Manz, Allan1; Search for: Green, David A.1; Search for: Elgazzar, Shadia1 |
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| Affiliation | - National Research Council of Canada. NRC Institute for Information Technology
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| Format | Text, Article |
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| Conference | IEEE/RSJ/GI International Conference on Intelligent Robots Systems, September 12-16, 1994, Munich, Germany |
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| Abstract | This paper describes a navigation system which unites three important capabilities: it enables a mobile robot to avoid obstacles, map the environment, and plan local paths around more complex obstacles while navigating. This system extends and integrates the histogram grid representation and the modified A* algorithm. Our system uses the histogram grid representation and updating method to represent the robot's environment and update a map quickly and reliably with the data from a laser range scanner. Our system also uses the modified A* algorithm to search this grid to plan and replan local paths. The navigation system that we have developed enables a mobile robot to smoothly avoid obstacles while navigating towards a goal at speeds of 0.15 to 0.35 meters per second, speeds which are faster than those typically obtained in similar systems |
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| Publication date | 1994 |
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| In | |
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| Language | English |
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| NRC number | NRCC 37132 |
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| NPARC number | 5765552 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | b9983b4b-1334-48f1-9b79-a59213f558fa |
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| Record created | 2009-03-29 |
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| Record modified | 2020-04-27 |
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