Motion planning for mobile robots: a method for the selection of a combination of motion-planning algorithms

J.J.M. Lunenburg, S.A.M. Coenen, G.J.L. Naus, M.J.G. van de Molengraft, M. Steinbuch

Research output: Contribution to journalArticleAcademicpeer-review

5 Citations (Scopus)
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Abstract

A motion planner for mobile robots is commonly built out of a number of algorithms that solve the two steps of motion planning: 1) representing the robot and its environment and 2) searching a path through the represented environment. However, the available literature on motion planning lacks a generic methodology to arrive at a combination of representations and search algorithm classes for a practical application. This article presents a method to select appropriate algorithm classes that solve both the steps of motion planning and to select a suitable approach to combine those algorithm classes. The method is verified by comparing its outcome with three different motion planners that have been successfully applied on robots in practice.

Original languageEnglish
Article number7493595
Pages (from-to)107-117
Number of pages11
JournalIEEE Robotics and Automation Magazine
Volume23
Issue number4
DOIs
Publication statusPublished - 1 Dec 2016

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