Comparison of Local Planning Algorithms for Mobile Robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00241164" target="_blank" >RIV/68407700:21230/15:00241164 - isvavai.cz</a>

Výsledek na webu

<a href="http://link.springer.com/chapter/10.1007%2F978-3-319-22383-4_15" target="_blank" >http://link.springer.com/chapter/10.1007%2F978-3-319-22383-4_15</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-22383-4_15" target="_blank" >10.1007/978-3-319-22383-4_15</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Comparison of Local Planning Algorithms for Mobile Robots

Popis výsledku v původním jazyce

Local planning algorithms are an essential part of today's mobile robots and autonomous vehicle control. While global planning decides the route of the robot based on initial data given to the planner, local planning is a real-time motion control, based on the feedback from sensors. Its purpose is to keep the robot on an optimal track, following a plan provided by the global planner and to avoid unexpected obstacles. This makes local planning a fundamental part for safe robot navigation. The paper aims to compare three local planning algorithms: the Dynamic Window Approach, Enhanced Vector Field Histogram and Smooth Nearness-Diagram. The comparison was made on various maps in the Player/Stage system and with a real robot in SyRoTek ( System for Robotic e-learning). A large set of experiments were made at first to find best configurations for the particular planning algorithms and the robot used. After that, another set of experiments with the found parameters was conducted to gain the results needed for comparison of the algorithms. More than 20,000 simulation runs and 120 hrs of experiments with a real robot were made in total giving the results good statistical credibility

Název v anglickém jazyce

Comparison of Local Planning Algorithms for Mobile Robots

Popis výsledku anglicky

Local planning algorithms are an essential part of today's mobile robots and autonomous vehicle control. While global planning decides the route of the robot based on initial data given to the planner, local planning is a real-time motion control, based on the feedback from sensors. Its purpose is to keep the robot on an optimal track, following a plan provided by the global planner and to avoid unexpected obstacles. This makes local planning a fundamental part for safe robot navigation. The paper aims to compare three local planning algorithms: the Dynamic Window Approach, Enhanced Vector Field Histogram and Smooth Nearness-Diagram. The comparison was made on various maps in the Player/Stage system and with a real robot in SyRoTek ( System for Robotic e-learning). A large set of experiments were made at first to find best configurations for the particular planning algorithms and the robot used. After that, another set of experiments with the found parameters was conducted to gain the results needed for comparison of the algorithms. More than 20,000 simulation runs and 120 hrs of experiments with a real robot were made in total giving the results good statistical credibility

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/TE01020197" target="_blank" >TE01020197: Centrum aplikované kybernetiky 3</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems (Second International Workshop, MESAS 2015)

ISBN

978-3-319-22382-7

ISSN

0302-9743

e-ISSN

—

Počet stran výsledku

13

Strana od-do

196-208

Název nakladatele

Springer International Publishing AG

Místo vydání

Cham

Místo konání akce

Praha

Datum konání akce

29. 4. 2015

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

000365044100015