By Topic

A new roadmap approach to automatic path planning for mobile robot navigation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ibarra-Zannatha, J.M. ; Dept. de Ingenieria Electrica, CINVESTAV-IPN, Mexico City, Mexico ; Sossa-Azuela, J.H. ; Gonzalez-Hernandez, H.

This paper describes a new road map approach to find a collision-free path for an AGV (automatic guided vehicle), taking into account the smoothness, length and available space restrictions. The proposed approach uses a top view image of a room in which there are some obstacles to be avoided. First of all the obstacles in the image are thickened using morphological techniques, to obtain the free space of the room. Secondly, this space is skeletonized to obtain a graph representation of AGV workspace, enriched with geometrical information of the free space. Finally, the best path is chosen using an optimization technique with a new criteria based on length, availability of free space, curvature and smoothness

Published in:

Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on  (Volume:3 )

Date of Conference:

2-5 Oct 1994