Abstract
This paper presents an implemented navigation system for mobile robots in dynamic environments. In order to take advantage of existing knowledge of the world and to deal with unknown obstacles in realtime, our system divides motion planning into global path planning and local reactive navigation. The former uses genetic algorithm methods to find a collision-free path; the latter is implemented using neural network techniques to track the path generated by the global planner while avoiding unknown obstacles on the way. As a result, the system can adapt to dynamic environmental changes. Our experiments, both in simulation and on a real robot, showed that the system can find a reasonably good free path in a fraction of the time necessary to find an optimal free path, and it can effectively achieve its goal configurations without collision.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 306-313 |
| Number of pages | 8 |
| ISBN (Electronic) | 0780319338 |
| DOIs | |
| State | Published - 1994 |
| Externally published | Yes |
| Event | 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994 - Munich, Germany Duration: 12 09 1994 → 16 09 1994 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| Volume | 1 |
| ISSN (Print) | 2153-0858 |
| ISSN (Electronic) | 2153-0866 |
Conference
| Conference | 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994 |
|---|---|
| Country/Territory | Germany |
| City | Munich |
| Period | 12/09/94 → 16/09/94 |
Bibliographical note
Publisher Copyright:© 1994 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.