| DOI | Trouver le DOI : https://doi.org/10.1109/IROS.1994.407553 |
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| Auteur | Rechercher : Stuck, Elizabeth R.1; Rechercher : Manz, Allan1; Rechercher : Green, David A.1; Rechercher : Elgazzar, Shadia1 |
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| Affiliation | - Conseil national de recherches du Canada. Institut de technologie de l'information du CNRC
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| Format | Texte, Article |
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| Conférence | IEEE/RSJ/GI International Conference on Intelligent Robots Systems, September 12-16, 1994, Munich, Germany |
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| Résumé | 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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| Date de publication | 1994 |
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| Dans | |
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| Langue | anglais |
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| Numéro du CNRC | NRCC 37132 |
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| Numéro NPARC | 5765552 |
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| Exporter la notice | Exporter en format RIS |
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| Signaler une correction | Signaler une correction (s'ouvre dans un nouvel onglet) |
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| Identificateur de l’enregistrement | b9983b4b-1334-48f1-9b79-a59213f558fa |
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| Enregistrement créé | 2009-03-29 |
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| Enregistrement modifié | 2020-04-27 |
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