hrcak mascot   Srce   HID

Izvorni znanstveni članak

Mobile Robot Path Planning in 2D Using Network of Equidistant Path

Mladen Crneković ; Faculty of Mechanical Engineering and Naval Architecture, Automation Department, Zagreb, Croatia
Branko Novaković ; Faculty of Mechanical Engineering and Naval Architecture, Automation Department, Zagreb, Croatia
Dubravko Majetić ; Faculty of Mechanical Engineering and Naval Architecture, Automation Department, Zagreb, Croatia

Puni tekst: engleski, pdf (6 MB) str. 123-135 preuzimanja: 228* citiraj
APA 6th Edition
Crneković, M., Novaković, B. i Majetić, D. (1999). Mobile Robot Path Planning in 2D Using Network of Equidistant Path. Journal of computing and information technology, 7 (2), 123-135. Preuzeto s https://hrcak.srce.hr/166136
MLA 8th Edition
Crneković, Mladen, et al. "Mobile Robot Path Planning in 2D Using Network of Equidistant Path." Journal of computing and information technology, vol. 7, br. 2, 1999, str. 123-135. https://hrcak.srce.hr/166136. Citirano 25.02.2021.
Chicago 17th Edition
Crneković, Mladen, Branko Novaković i Dubravko Majetić. "Mobile Robot Path Planning in 2D Using Network of Equidistant Path." Journal of computing and information technology 7, br. 2 (1999): 123-135. https://hrcak.srce.hr/166136
Harvard
Crneković, M., Novaković, B., i Majetić, D. (1999). 'Mobile Robot Path Planning in 2D Using Network of Equidistant Path', Journal of computing and information technology, 7(2), str. 123-135. Preuzeto s: https://hrcak.srce.hr/166136 (Datum pristupa: 25.02.2021.)
Vancouver
Crneković M, Novaković B, Majetić D. Mobile Robot Path Planning in 2D Using Network of Equidistant Path. Journal of computing and information technology [Internet]. 1999 [pristupljeno 25.02.2021.];7(2):123-135. Dostupno na: https://hrcak.srce.hr/166136
IEEE
M. Crneković, B. Novaković i D. Majetić, "Mobile Robot Path Planning in 2D Using Network of Equidistant Path", Journal of computing and information technology, vol.7, br. 2, str. 123-135, 1999. [Online]. Dostupno na: https://hrcak.srce.hr/166136. [Citirano: 25.02.2021.]

Sažetak
This article proposes mobile robot path planning in the presence of static obstacles by arbitrary shapes. The realized path is optimal in a global sense (shortest). The path searching process is divided in three steps: network of equidistant path design, optimal path selection and simulation along the optimal path. The obtained freeways model is small, therefore the solution time is short. During the motion, the robot is absolutely safe from obstacles and never makes sudden rotations. The presented algorithm has been successfully tested on many examples in different situations and difficulties. It is able to solve even maze-type problems. Solution times are comparable with human reactions faced with the same problem. The main contribution of this paper is increasing the efficiently of equidistant path searching and introduction the widest path algorithm.

Ključne riječi
path planning; mobile robot; equidistant path; widest pass

Hrčak ID: 166136

URI
https://hrcak.srce.hr/166136

Posjeta: 295 *