Scheduled System Maintenance:
On Monday, April 27th, IEEE Xplore will undergo scheduled maintenance from 1:00 PM - 3:00 PM ET (17:00 - 19:00 UTC). No interruption in service is anticipated.
By Topic

Self-organizing system for the motion planning of mobile robots

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

2 Author(s)
Keymeulen, D. ; Inst. of Eng. Mech., Tsukuba Univ., Ibaraki, Japan ; Decuyper, J.

Mobile robots need a powerful and flexible navigation system in order to move around autonomously in an incompletely known and changing environment. We present a computational metaphor for path generation which is gleaned from fluid dynamics. It is powerful for two reasons. First it can find in a maze of arbitrary complexity nearly optimal paths: they are as short as possible without passing too closely to the obstacles. Second it is flexible because it readily adapts to any change in the topology of the maze. We compare our method with the artificial potential method and related approaches and show by a topological analysis that the fluid dynamics metaphor has distinctive advantages. The paper further discusses the natural parallelism of the metaphor, its implementation on the DAP computer and examines some possible extensions by showing that additional constraints on the path can be tackled using the fluid metaphor

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996