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CSE+: path planning amid circles
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Reglerteknik)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Digital Media Lab)
2009 (English)In: IEEE International Conference on Robots and Agents, IEEE conference proceedings, 2009, 447-452 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a method for obstacle avoidance and path-finding amid circular objects. The input data are circles and the output is a sequence of circles. The output circles represent a possible path, to a target, for a holonomic mobile robot. The method uses a solution to the Apollonius Tangency problem to find the maximum spanning circles amid the input circles. The radii of the circles can be set by desired clearance to nearby obstacles, from sensor parameters, or model parameters from extracted features. The method is intuitive and rather easily implemented and suits well for mobile robots, especially mobile robots with circular shape. It can be implemented with a depth-first approach where the target bearing angle is used as criteria in a divide and conquer step. The method was tested on sensor data registered by a laser range finder.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. 447-452 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-19735DOI: 10.1109/ICARA.2000.4803947ISI: 000269688000040ISBN: 978-1-4244-2712-3 (print)ISBN: 978-1-4244-2713-0 (print)OAI: oai:DiVA.org:umu-19735DiVA: diva2:209784
Conference
4th International Conference on Robots and Agents, Wellington, New Zealand, 10-12 february 2009
Note

CSE plus: path planning amid circles

Available from: 2009-03-27 Created: 2009-03-10 Last updated: 2016-02-08Bibliographically approved

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Rönnbäck, SvenWesterberg, SimonProrok, Kalle

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf