TY - JOUR
T1 - Motion planning for mobile robots
T2 - a method for the selection of a combination of motion-planning algorithms
AU - Lunenburg, J.J.M.
AU - Coenen, S.A.M.
AU - Naus, G.J.L.
AU - van de Molengraft, M.J.G.
AU - Steinbuch, M.
PY - 2016/12/1
Y1 - 2016/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84975292137&partnerID=8YFLogxK
U2 - 10.1109/MRA.2015.2510798
DO - 10.1109/MRA.2015.2510798
M3 - Article
AN - SCOPUS:84975292137
SN - 1070-9932
VL - 23
SP - 107
EP - 117
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 4
M1 - 7493595
ER -