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Authors: Evgeni Magid 1 ; Roman Lavrenov 1 and Airat Khasianov 2

Affiliations: 1 Higher School of Information Technology and Information Systems and Kazan Federal Universit, Russian Federation ; 2 Kazan Federal University, Russian Federation

Keyword(s): Path Planning, Voronoi Diagram, Potential Field, Mobile Robot.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

Abstract: Potential function based methods play significant role in global and local path planning. While these methods are characterized with good reactive behavior and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this article we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and adds additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm. The algorithm was implemented in Matlab environment and simulation results demonstrate that we succeeded to overcome our original algorithm pitfalls.

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Paper citation in several formats:
Magid, E.; Lavrenov, R. and Khasianov, A. (2017). Modified Spline-based Path Planning for Autonomous Ground Vehicle. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-264-6; ISSN 2184-2809, SciTePress, pages 132-141. DOI: 10.5220/0006442601320141

@conference{icinco17,
author={Evgeni Magid. and Roman Lavrenov. and Airat Khasianov.},
title={Modified Spline-based Path Planning for Autonomous Ground Vehicle},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2017},
pages={132-141},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006442601320141},
isbn={978-989-758-264-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Modified Spline-based Path Planning for Autonomous Ground Vehicle
SN - 978-989-758-264-6
IS - 2184-2809
AU - Magid, E.
AU - Lavrenov, R.
AU - Khasianov, A.
PY - 2017
SP - 132
EP - 141
DO - 10.5220/0006442601320141
PB - SciTePress

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