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A Voronoi-Based Reactive Approach for Mobile Robot Navigation

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Advances in Computer Science and Engineering (CSICC 2008)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 6))

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Abstract

Robot navigation is a challenging problem in robotics, which involves determining of robot positioning relative to objects in the environment, and also the mobility of robot through obstacles without colliding into them. The former is known as localization, while the latter is called motion planning. This paper introduces a roadmap method for solving motion planning problem in a dynamic environment based on Generalized Voronoi Diagram (GVD). The efficiency of the proceeding work is verified by examining it in a sample home environment.

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References

  1. Choset, H., Konukseven, I., Burdick, J.: Mobile robot navigation: Issues in implementation the generalized voronoi graph in the plane. In: Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 241–248 (1996)

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  4. Nieuwenhuisen, D., Kamphuis, A., Overmars, M.M.M.H.: Automatic construction of high quality roadmaps for path planning. Technical Report UU-CS-2004-068, Institute of Information and Computing Sciences, Utrecht University (2004)

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Author information

Authors and Affiliations

  1. Computer Science Department, University of Tehran, Tehran, Iran

    Shahin Mohammadi

  2. Computer Engineering Department, Sharif University of Technology, Tehran, Iran

    Nima Hazar

Authors
  1. Shahin Mohammadi
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  2. Nima Hazar
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Editor information

Editors and Affiliations

  1. IPM School of Computer Science, and Department of Computer Engineering, Sharif Unversity of Technology, Azadi Street, Tehran, Iran

    Hamid Sarbazi-Azad

  2. Department of Electrical and computer Engineering, UC Irvine, California, USA

    Behrooz Parhami

  3. Department of Computer Engineering, Sharif University of Technology,, Azadi Street, Tehran, Iran

    Seyed-Ghassem Miremadi

  4. Department of Computer Engineering, Sharif University of Technology, Azadi Street, Tehran, Iran

    Shaahin Hessabi

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© 2008 Springer-Verlag Berlin Heidelberg

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Mohammadi, S., Hazar, N. (2008). A Voronoi-Based Reactive Approach for Mobile Robot Navigation. In: Sarbazi-Azad, H., Parhami, B., Miremadi, SG., Hessabi, S. (eds) Advances in Computer Science and Engineering. CSICC 2008. Communications in Computer and Information Science, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89985-3_129

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  • DOI: https://doi.org/10.1007/978-3-540-89985-3_129

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89984-6

  • Online ISBN: 978-3-540-89985-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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