Structuring free space as prime rectangular areas (PRAs) with on-line path planning and navigation for mobile robots

Maki K. Habib, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A method is presented for modeling a robot environment and structuring its free space in terms of a set of overlapped prime rectangular areas (PRAs) which are suited for path planning and navigation tasks. Next, a connectivity table for the overlapped PRAs is constructed to provide the structure necessary for path-finding. Using the generated overlapped PRAs, a simple and computationally effective online path planning algorithm is proposed to generate the optimal collision-free path in terms of intersected PRAs from the PRA containing a start point to a PRA containing a goal point within the robot's environment. Since the movements between the PRAs cannot have fixed cost distance attached to them, an efficient technique that dynamically allocates cost to path segments as the path develops is proposed. A real-time execution algorithm is developed to control the robot during the execution of the planned path. Experimental examples based on the proposed algorithms with its results are presented for selected environments executed on the mobile robot Yamabico.M (Level-12).

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Editors Anon
PublisherPubl by IEEE
Pages557-565
Number of pages9
Volume2
Publication statusPublished - 1989
Externally publishedYes
Event1989 IEEE International Conference on Systems, Man, and Cybernetics. Part 1 (of 3) - Cambridge, MA, USA
Duration: 1989 Nov 141989 Nov 17

Other

Other1989 IEEE International Conference on Systems, Man, and Cybernetics. Part 1 (of 3)
CityCambridge, MA, USA
Period89/11/1489/11/17

Fingerprint

Motion planning
Mobile robots
Navigation
Robots
Costs

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Habib, M. K., & Yuta, S. (1989). Structuring free space as prime rectangular areas (PRAs) with on-line path planning and navigation for mobile robots. In Anon (Ed.), Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 2, pp. 557-565). Publ by IEEE.

Structuring free space as prime rectangular areas (PRAs) with on-line path planning and navigation for mobile robots. / Habib, Maki K.; Yuta, Shinichi.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. ed. / Anon. Vol. 2 Publ by IEEE, 1989. p. 557-565.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Habib, MK & Yuta, S 1989, Structuring free space as prime rectangular areas (PRAs) with on-line path planning and navigation for mobile robots. in Anon (ed.), Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 2, Publ by IEEE, pp. 557-565, 1989 IEEE International Conference on Systems, Man, and Cybernetics. Part 1 (of 3), Cambridge, MA, USA, 89/11/14.
Habib MK, Yuta S. Structuring free space as prime rectangular areas (PRAs) with on-line path planning and navigation for mobile robots. In Anon, editor, Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 2. Publ by IEEE. 1989. p. 557-565
Habib, Maki K. ; Yuta, Shinichi. / Structuring free space as prime rectangular areas (PRAs) with on-line path planning and navigation for mobile robots. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. editor / Anon. Vol. 2 Publ by IEEE, 1989. pp. 557-565
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