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

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

5 Citaties (Scopus)

Uittreksel

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.

TaalEngels
Artikelnummer7493595
Pagina's107-117
Aantal pagina's11
TijdschriftIEEE Robotics and Automation Magazine
Volume23
Nummer van het tijdschrift4
DOI's
StatusGepubliceerd - 1 dec 2016

Vingerafdruk

Motion planning
Mobile robots
Robots

Citeer dit

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Motion planning for mobile robots : a method for the selection of a combination of motion-planning algorithms. / Lunenburg, J.J.M.; Coenen, S.A.M.; Naus, G.J.L.; van de Molengraft, M.J.G.; Steinbuch, M.

In: IEEE Robotics and Automation Magazine, Vol. 23, Nr. 4, 7493595, 01.12.2016, blz. 107-117.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

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