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https://locus.ufv.br//handle/123456789/24239
Tipo: | Artigo |
Título: | A hybrid path-planning strategy for mobile robots with limited sensor capabilities |
Autor(es): | Oliveira, Guilherme Carlos R. de Carvalho, Kevin B. de Brandão, Alexandre S. |
Abstract: | This paper introduces a strategy for the path planning problem for platforms with limited sensor and processing capabilities. The proposed algorithm does not require any prior information but assumes that a mapping algorithm is used. If enough information is available, a global path planner finds sub-optimal collision-free paths within the known map. For the real time obstacle avoidance task, a simple and cost-efficient local planner is used, making the algorithm a hybrid global and local planning solution. The strategy was tested in a real, cluttered environment experiment using the Pioneer P3-DX and the Xbox 360 kinect sensor, to validate and evaluate the algorithm efficiency. |
Palavras-chave: | Path planning Global and local planner Hybrid strategy A* search Tangential escape |
Editor: | Sensors |
Tipo de Acesso: | Open Access |
URI: | https://doi.org/10.3390/s19051049 http://www.locus.ufv.br/handle/123456789/24239 |
Data do documento: | Mar-2019 |
Aparece nas coleções: | Artigos |
Arquivos associados a este item:
Arquivo | Descrição | Tamanho | Formato | |
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artigo.pdf | texto completo | 2,32 MB | Adobe PDF | Visualizar/Abrir |
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