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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Rufli, Martin Ferguson, Dave Siegwart, Roland |
| Copyright Year | 2009 |
| Description | Author affiliation: Intel Research Pittsburgh, 4720 Forbes Ave, PA, 15213, USA (Ferguson, Dave) || Autonomous Systems Lab, ETH Zürich, Tannenstrasse 3, 8092, Switzerland (Rufli, Martin; Siegwart, Roland) |
| Abstract | In this paper we describe a novel path planning approach for mobile robots operating in indoor environments. In such scenarios, robots must be able to maneuver in crowded spaces, partially filled with static and dynamic obstacles (such as people). Our approach produces smooth, complex maneuvers over large distances through the use of an anytime graph search algorithm applied to a novel multi-resolution state lattice, where the resolution is adapted based on both environmental characteristics and task characteristics. In addition, we present a novel approach for generating fast globally optimal trajectories in constrained spaces (i.e. rooms connected via doors and hallways). This approach exploits offline precomputation to provide extremely efficient online performance and is applicable to a wide range of both indoor and outdoor navigation scenarios. By combining an anytime, multi-resolution lattice-based search algorithm with our precomputation technique, globally optimal trajectories in up to four dimensions (2D position, heading and velocity) are obtained in real-time. |
| Starting Page | 3780 |
| Ending Page | 3785 |
| File Size | 1300889 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152506 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Path planning Navigation Vehicle dynamics Orbital robotics Remotely operated vehicles Mobile robots Lattices Robotics and automation USA Councils Indoor environments |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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