Abstract
This paper describes a unique and optimal method for real-time global path planning and collision avoidance for navigation of a mobile robot in complex time varying environments. Occupancy based 3D grid map and Gaussian distribution model based obstacle prediction are employed to represent the dynamic environment. Path planning and obstacle avoidance are performed by applying a cost-evaluation function on time-space Distance Transforms to uniquely produce the optimal path at the time of planning. Experimental results are presented verifying the effectiveness and versatility of the algorithm in both predictable and imperfectly predictable time varying environments.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Borensteing, J., Koren, Y.: Real-time Obstacle Avoidance for Fast Mobile Robots. IEEE Transactions on Systems, Man and Cybernetics 19(5), 1179–1187 (1989)
Simmons, R.: The Curvature-Velocity Method for Local Obstacle Avoidance. In: Proceedings of International Conference on Robotics and Automation (April 1996)
Ogren, P., Leonard, N.E.: A Tractable Convergent Dynamic Window Approach to Obstacle Avoidance. In: Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, EPFL, Lausanne, Switzerland (October 2002)
Fiorini, P., Shiller, Z.: Motion Planning in Dynamic Environments Using Velocity Obstacles. The Int. Journal of Robotics Research 17(7), 760–772 (1998)
Zhu, Q.: Hidden Markov model for Dynamic Obstacle Avoidance of Mobile Robot Navigation. IEEE Trans. On Robotics and Automation 7(3) (June 1991)
Matsumoto, Y., Inaba, M., Inoue, H.: View-based approach to robot navigation. In: Proceeding of IEEWRSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1702–1708 (2000)
Rosenfeld, A., Pfaltz, J.L.: Sequential Operations in Digital Image processing: J.A.C.M. 13(4), 471–494 (Octber 1966)
Jarvis, R.A.: Collision-Free Trajectory Planning Using Distance Transofrms. In: Proceedings of Nat. Conf. and Exhibition on Robotics, Melbourne, August 20-24 (1984)
Jarvis, R.A.: Distance Transform Based Path Planning for Robot Navigation. In: Zheng, Y.F. (ed.) Recent Trends in Mobile Robots, River Edge, New Jersey, vol. 129, pp. 3–31. World Scientific Publishers, Singapore (1993)
Elfes, A.: Sonar-based real-world mapping and navigation. IEEE Journal of Robotics and Automation RA3(3), 249–265 (1987)
Marzouqi, M.S., Jarvis, R.A.: New visibility-based path-planning approach for covert robotic navigation. Journal: Robotica (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gupta, O.K., Jarvis, R.A. (2008). Optimal Global Path Planning in Time Varying Environments Based on a Cost Evaluation Function. In: Wobcke, W., Zhang, M. (eds) AI 2008: Advances in Artificial Intelligence. AI 2008. Lecture Notes in Computer Science(), vol 5360. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89378-3_15
Download citation
DOI: https://doi.org/10.1007/978-3-540-89378-3_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89377-6
Online ISBN: 978-3-540-89378-3
eBook Packages: Computer ScienceComputer Science (R0)