Browse > Article

Path Planning and Tracking for Mobile Robots Using An Improved Distance Transform Algorithm  

Park Jin-Hyun (진주산업대학교 메카트로닉스공학과)
Park Gi-Hyung (한국전력공사 수원전력관리처)
Choi Young-Kiu (부산대학교 전자전기정보컴퓨터공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.9, no.4, 2005 , pp. 782-791 More about this Journal
Abstract
In this paper, path planning and tracking problems are mentioned to guarantee efficient and safe navigation of autonomous mobile robots. We focus on the path planning and also deal with the path tracking and obstacle avoidance. We improved the conventional distance transform (DT) algorithm for the path planning. Using the improved DT algorithm, we obtain paths with shorter distances compared to the conventional DT algorithm. In the stage of the Path tracking, we employ the fuzzy logic controller to conduct the path tracking behavior and obstacle avoidance behavior. Through computer simulation studies, we show the effectiveness of the Nosed navigational algorithm for autonomous mobile robots.
Keywords
Path planning; path tracking; distance transform algorithm; mobile robots;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Jean-claude Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991
2 Tomas Lozano-Perez, 'Spatial planning a configuration space approach,' IEEE Transactions on Computers, vol. 32, no. 2, pp. 108-120, 1983   DOI   ScienceOn
3 J. Borenstein and Y. Koren, 'Real-time obstacle avoidance for fast mobile robots,' IEEE Transactions on Systems. Man and Cybernetics. vol. 19, no. 5, pp. 1179-1187, 1989   DOI   ScienceOn
4 Shigeki Ishikawa, 'A method of indoor mobile robot navigation by using fuzzy control,' Proc. of the IEEE International Conference on Intelligent Robots and Systems, vol. 2, pp. 1013-1018, 1991
5 H. Choset and J. Burdick, 'Sensor based planning, part I : generalized voronoi graph,' Proc. of the IEEE International Conference on Robotics and Autonomous, pp. 1643-1648, 1995
6 D. Kortenkamp, R. Bonasso and R. Murphy, Artificial Intelligence and Mobile Robots, The MIT Press, 1998
7 J. S. Zelek and M. D. Levine, 'Local-global concurrent path planning and execution,' IEEE Transactions on Systems, Man and Cybernetics, vol. 30, no. 6, pp. 865-870, 2000
8 Lim Chee Wang and Lim Ser Yong, 'Hybrid of global path planning and local navigation implemented on a mobile robot in indoor environment,' Proc. of the IEEE International Symposium on Intelligent Control, pp. 821-826, 2002
9 Y. Kanayama, 'A locomotion method for autonomous vehicle,' Proc. of the IEEE International Conference on Robotics and Automation, pp. 1315-1317, 1998
10 E. H. Mamdani and S. Assilian, 'An experiment in linguistic synthesis with a fuzzy logic controller,' International Journal of Man-Machine Studies, vol. 7, no. 1, pp. 1-13, 1975   DOI   ScienceOn
11 Joon Seop Oh, Jin Bae Park and Yoon Ho Choi, 'Complete coverage navigation of clean robot based on triangular cell map,' Proc. of the IEEE International Symposium on Industrial Electronics, vol. 3, pp. 12-16, June 2001
12 A. Elfes, 'Sonar-based real-world mapping and navigation,' IEEE Journal of Robotics an Automation, vol. 3, no. 4, pp. 249-265, June 1987   DOI
13 A. Zelinsky, 'A mobile robot exploration algorithm,' IEEE Transactions on Robotics and Automation, vol. 8, no. 6, pp. 707-717, Dec. 1992   DOI   ScienceOn