A set-based global dynamic window algorithm for robust and safe mobile robot path planning | VDE Conference Publication | IEEE Xplore

A set-based global dynamic window algorithm for robust and safe mobile robot path planning

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Abstract:

In recent papers we proposed a novel approach for mobile robot localization based on set theoretic methods. In this paper we complete this set-based approach by introduci...Show More

Abstract:

In recent papers we proposed a novel approach for mobile robot localization based on set theoretic methods. In this paper we complete this set-based approach by introducing a novel set-based mobile robot path planning algorithm, which can handle the outputs of the set-based localization. In opposite to most known path planning algorithms the approach considers not only kinematic and dynamic constraints of the robot but also noisy measurements from its employed sensors. Realistic simulation experiments validate the effectiveness of the proposed approach.
Date of Conference: 07-09 June 2010
Date Added to IEEE Xplore: 01 June 2011
Print ISBN:978-3-8007-3273-9
Conference Location: Munich, Germany