Sensor-based navigation for car-like mobile robots based on a generalized Voronoi graph
Authors: Nagatani K.; Iwai Y.; Tanaka Y.
Source: Advanced Robotics, Volume 17, Number 5, 2003 , pp. 385-401(17)
Publisher: VSP, an imprint of Brill
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Abstract:
Our research objective is to realize sensor-based navigation for car-like mobile robots. We adopt the generalized Voronoi graph (GVG) for the robot's local path and a map representation. It has the advantage to describe the mobile robot's path for sensor-based navigation from the point of view of completeness and safety. However, it is impossible to apply the path to car-like mobile robots directly, because the limitation of the minimum turning radius for a car-like robot may prevent it from following the GVG exactly. To solve this problem, we propose a local smooth path-planning algorithm for car-like mobile robots. Basically, an initial local path is generated by a conventional path-planning algorithm using GVG theory and it is modified smoothly by a Bezier curve to enable the car-like robots to follow it by maximizing our evaluation function. In this paper, we introduce a local smooth path-planning algorithm based on the GVG and explain the details of our evaluation function. Simulation and experimental results support the validity of the algorithm.Keywords: Mobile robot exploration; generalized Voronoi graph; non-holonomic constraint; Bezier curve.
Document Type: Research article
DOI: 10.1163/15685530360663409
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