NDLI: The time optimal path-planning of mobile robots motion respecting the time cost of rotation

Content Provider	IEEE Xplore Digital Library
Author	Skrabanek, P. Mariska, M. Dolezel, P.
Copyright Year	2015
Description	Author affiliation: Fac. of Electr. Eng. & Inf., Univ. of Pardubice, Pardubice, Czech Republic (Skrabanek, P.; Mariska, M.; Dolezel, P.)
Abstract	The paper describes the time optimal path-planning method designed for differential wheeled mobile robots operating on flat ground. The robots are used as support teaching tool by the path-planning problematic exercising. Whereas the exercise is designed for students without any prior knowledge about the path-planning, the graph version of the A* algorithm was chosen as the appropriate algorithm for the problematic introduction. The students are supposed to exercise the path-planning using the evaluation functions of various difficulties. The most complex of them is the evaluation function reflecting both the transportation time and the time required for a robot rotation. Its mathematical formulation is described in the paper and its functionality is shown in three case studies where the shortest time-path between two locations in a labyrinth is required to be found.
Starting Page	232
Ending Page	237
File Size	186184
Page Count	6
File Format	PDF
ISBN	9781467366274
DOI	10.1109/PC.2015.7169968
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-09
Publisher Place	Slovakia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Layout Education Transportation Manipulators Mobile robots
Content Type	Text
Resource Type	Article

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