TY - GEN
T1 - Universal autonomous robot navigation using quasi optimal path generation
AU - Lászka, Áron
AU - Várkonyi-Kóczy, Annamária R.
AU - Pék, Gábor
AU - V́arlaki, Ṕeter
PY - 2009
Y1 - 2009
N2 - Autonomous robot navigation is an important research field because these robots can solve problems where the human presence is impossible, dangerous, expensive, or uncomfortable. In this paper, a new hybrid autonomous navigation method is introduced. The algorithm is composed of visibility graph based global navigation and simple potential field based local navigation parts. It applies a new automated graph generation method which may become necessary if, because of the observed new obstacles, a new path should be generated. The quasi optimal route is found by applying the well known A* algorithm on the graph. The presented technique offers a quasi optimal universal navigation technique which can successfully be used in all, known, unknown, and dynamically changing environments.
AB - Autonomous robot navigation is an important research field because these robots can solve problems where the human presence is impossible, dangerous, expensive, or uncomfortable. In this paper, a new hybrid autonomous navigation method is introduced. The algorithm is composed of visibility graph based global navigation and simple potential field based local navigation parts. It applies a new automated graph generation method which may become necessary if, because of the observed new obstacles, a new path should be generated. The quasi optimal route is found by applying the well known A* algorithm on the graph. The presented technique offers a quasi optimal universal navigation technique which can successfully be used in all, known, unknown, and dynamically changing environments.
UR - https://www.scopus.com/pages/publications/66149165923
UR - https://www.scopus.com/pages/publications/66149165923#tab=citedBy
U2 - 10.1109/ICARA.2000.4804008
DO - 10.1109/ICARA.2000.4804008
M3 - Conference contribution
AN - SCOPUS:66149165923
SN - 9781424427130
T3 - ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
SP - 458
EP - 463
BT - ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
T2 - 4th International Conference on Autonomous Robots and Agents, ICARA 2009
Y2 - 10 February 2009 through 12 February 2009
ER -