The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2006
Session ID : 2P2-E10
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2P2-E10 Path Planning of Mobile Robot by Path Shortcut Method and Autonomous Navigation with Self-Positioning
Takashi HAGIO, Hiroaki OZAKI, Makoto IWAMURA, Chang-jun LIN
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Keywords: Mobile Robot, Autonomous Navigation, Path Planning, Path Shortcut Method, Self- Positioning
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Abstract
A quasi-shortest path planning method called Path Shortcut Method is proposed for an autonomous mobile robot. This method is based on Dijkstra Method and improved on the reduction of calculation time and memory for the path planning. The trajectory is generated from the obtained path in a given floor map on the idea of time scaling. The autonomous navigation is effectively realized with the trajectory generation and self- positioning by landmarks.
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© 2006 The Japan Society of Mechanical Engineers
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