Optimal Navigation for Mobile Robot in Known Environment

František Duchoň; Dominik Huňady; Martin Dekan; Andrej Babinec

doi:10.4028/www.scientific.net/AMM.282.33

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 282Optimal Navigation for Mobile Robot in Known...

Optimal Navigation for Mobile Robot in Known Environment

Abstract:

Optimal navigation is a subset of robot navigation in an environment. It is also known as a path planning. The aim of the optimal navigation is to choose optimal path between the initial state and the desired state of the robot. There are many methods how to choose the optimal path. In this article A* algorithm was chosen, because it is widely applied. The main idea was to propose an algorithm, which is able to select the optimal path in a typical indoor environment. Despite that our real robot uses metric maps and A* algorithm is primarily designated for the topological maps, it was verified in the experiments that this algorithm can be used for off-line path planning.

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Periodical:

Applied Mechanics and Materials (Volume 282)

Pages:

33-38

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.282.33

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Online since:

January 2013

Authors:

František Duchoň, Dominik Huňady, Martin Dekan, Andrej Babinec

Keywords:

A* Algorithm, Configuration Space, Optimal Navigation

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