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Combining configuration space and occupancy grid for robot navigation

Thomas Bräunl (Thomas Bräunl is based at the Centre for Intelligent Information Processing Systems CIIPS, The University of Western Australia, Perth, Western Australia, Australia.)
Nicholas Tay (Nicholas Tay is based at the Centre for Intelligent Information Processing Systems CIIPS, The University of Western Australia, Perth, Western Australia, Australia.)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 June 2001

819

Abstract

This article introduces a map generation algorithm that combines configuration space and occupancy grid approaches. This algorithm is suitable for a mobile robot system with local sensors for positioning. Global positioning is not required. The algorithm will generate a driving path for the robot to explore the unknown environment around it. A version of the DistBug algorithm is used to determine routes around obstacles. The algorithm can deal with imperfect distance sensors and localization errors.

Keywords

Citation

Bräunl, T. and Tay, N. (2001), "Combining configuration space and occupancy grid for robot navigation", Industrial Robot, Vol. 28 No. 3, pp. 233-241. https://doi.org/10.1108/01439910110389399

Publisher

:

MCB UP Ltd

Copyright © 2001, MCB UP Limited

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