1 March 1991 Vehicle path planning via dual-world representations
Author Affiliations +
Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.48084
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
A technique is developed whereby a mobile robot equipped with sonar sensors autonomously explores a hallway environment and during exploration dynamically builds two types of maps: a graph of places defined by distinctive sonar events and a grid map from dead reckoning data that is accurate in the neighborhood of a place. With both maps available the robot can quickly plan a path between arbitrary locations and then define a sequence of behaviors that will move the robot along the selected path. Robust performance is achieved by dividing the computational processes into two parallel operations. Time-critical low-level behaviors like driving and steering in the exploratory mode are controlled by an onboard computer that uses sonar data as input to simple subsumption-based algorithms. 1 Higher level more computationally intense and less-time-critical activities like place designation map making display generation and path planning are performed in parallel on a remote computer that fetches sonar data and issues high-level commands via a radio link. An approach to integrating this work with efforts in planning and navigation to form a larger activity in intelligent vehicle research is discussed in a companion paper.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Alex N. Peck, Alex N. Peck, Harry T. Breul, Harry T. Breul, "Vehicle path planning via dual-world representations", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.48084; https://doi.org/10.1117/12.48084


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