NDLI: Sensor-based path-planning algorithms for a nonholonomic mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Noborio, H. Yamamoto, I. Komaki, T.
Copyright Year	2000
Description	Author affiliation: Dept. of Eng. Inf., Osaka Electro-Commun. Univ., Neyagawa, Japan (Noborio, H.)
Abstract	We propose sensor-based path-planning algorithms for a nonholonomic mobile robot. A car-like robot supervised by these algorithms always reaches its target point (position, and orientation) globally while sensing and avoiding uncertain neighbor obstacles locally in a 2-D environment. In general, all the classic sensor-based path-planning algorithms lead a robot to its destination (x,y) quickly in a 2-D unknown search space. Unfortunately, a nonholonomic mobile robot has three degrees-of-freedom (z,y,/spl theta/), and consequently its search space has three dimensions. In this paper, we propose two algorithms NH-I/spl middot/II. NH-I is designed by mixing modified versions of a famous model-based algorithm best-first and the classic sensor-based algorithm Class1. NH-II is designed by mixing modified versions of another famous model-based algorithm depth-first and Class1. BF and DF can investigate around an unknown obstacle whose dimensions are over two. As a result, by the mixture, we obtain three dimensional or more sensor-based path-planning algorithms NH-I/spl middot/II for a nonholonomic mobile robot. Finally, in order to check a real-time property of both algorithms, we compare their search costs with that of a model-based path-planning algorithm A/sub NH/* for a nonholonomic mobile robot.
Starting Page	917
Ending Page	924
File Size	818490
Page Count	8
File Format	PDF
ISBN	0780363485
DOI	10.1109/IROS.2000.893136
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-10-31
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Mobile robots Robot sensing systems Orbital robotics Algorithm design and analysis Informatics Costs Clocks
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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