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Path Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marching

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.authorBlanco Rojas, María Dolores
dc.contributor.authorJurewicz Slupska, Piotr Pawel
dc.date.accessioned2014-04-03T11:21:09Z
dc.date.available2014-04-03T11:21:09Z
dc.date.issued2011-04-04
dc.description.abstractFor navigation in complex environments, a robot need s to reach a compromise between the need for having efficient and optimized trajectories and t he need for reacting to unexpected events. This paper presents a new sensor-based Path Planner w hich results in a fast local or global motion planning able to incorporate the new obstacle information. In the first step the safest areas in the environment are extracted by means of a Vorono i Diagram. In the second step the Fast Marching Method is applied to the Voronoi extracted a reas in order to obtain the path. The method combines map-based and sensor-based planning o perations to provide a reliable motion plan, while it operates at the sensor frequency. The m ain characteristics are speed and reliability, since the map dimensions are reduced to an almost uni dimensional map and this map represents the safest areas in the environment for moving the robot. In addition, the Voronoi Diagram can be calculated in open areas, and with all kind of shaped obstacles, which allows to apply the proposed planning method in complex environments wher e other methods of planning based on Voronoi do not work.en
dc.description.sponsorshipThis work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 IIen
dc.format.extent23
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationInternational journal of robotics and automation (IJRA), March / April, 2011, Vol. 2, Issue 1, pp. 42-64en
dc.identifier.issn2180-1312
dc.identifier.publicationfirstpage42
dc.identifier.publicationissue1
dc.identifier.publicationlastpage64
dc.identifier.publicationtitleInternational journal of robotics and automation (IJRA)en
dc.identifier.publicationvolume2
dc.identifier.urihttps://hdl.handle.net/10016/18721
dc.identifier.uxxiAR/0000012117
dc.language.isoeng
dc.publisherCSC Publishersen
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 IIes
dc.relation.publisherversionhttp://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue1/IJRA-26.pdf
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España
dc.rights.accessRightsopen access
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherVoronoi Diagramen
dc.subject.otherPath Planningen
dc.subject.otherFast Marchingen
dc.titlePath Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marchingen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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