The active kinematic histogram method for path planning of non-point, non-holonomically constrainted mobile robots

Katevas, NI; Tzafestas, SG

dc.contributor.author	Katevas, NI	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:14:13Z
dc.date.available	2014-03-01T01:14:13Z
dc.date.issued	1998	en
dc.identifier.issn	0169-1864	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12932
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0032314515&partnerID=40&md5=6a4cce6784a3fd61a796b006a2e41fe1	en
dc.subject.classification	Robotics	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Encoding (symbols)	en
dc.subject.other	Functions	en
dc.subject.other	Intelligent robots	en
dc.subject.other	Kinematics	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion planning	en
dc.subject.other	Velocity control	en
dc.subject.other	Active kinematic histogram (AKH) method	en
dc.subject.other	Adaptive thresholding	en
dc.subject.other	Vector field histogram (VFH) method	en
dc.subject.other	Mobile robots	en
dc.title	The active kinematic histogram method for path planning of non-point, non-holonomically constrainted mobile robots	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	1998	en
heal.abstract	The paper presents a novel path planning method for non-point, non-holonomically constrainted mobile robots. The proposed method, named the Active Kinematic Histogram (AKH) method, is a potential field path-planning method based on the Vector Field Histogram (VFH) method introduced by J. Borenstein and Y. Koren. The method relies on one-dimensional environment representations named AKHs, derived from the available information on the obstacle space and the robot itself. The AKHs provide the information abstraction required for fast, collision-free and kinematically feasible path planning for non-point, non-holonomically constrainted mobile robots. The method constructs two AKH structures incorporating the information stored in occupancy grid environment representations as well as the exact robot's size, shape and kinematic features. The method applies simple and fast procedures, e.g. histogram shifting, in order to determine kinematic feasibility and the result of the robot's steering limits. Being a potential field method, the AKH method uses adaptive thresholding procedures to reduce the inherited drawback of the local minima traps phenomenon. Furthermore, the method proposes specific updating and coding procedures for the environmental information and introduces the Ageing function to insert time parameterization in the path-planning results. Also, the so-called bicycle kinematic model is presented in order to describe the kinematic family of mobile robots suitable for applying the AKH method. The method integrates a velocity control procedure which is also based on information provided by the active kinematic histograms. The method produced smooth, collision-free paths in a variety of experimental configurations. Simulation and experimental results are presented.	en
heal.publisher	VSP BV	en
heal.journalName	Advanced Robotics	en
dc.identifier.isi	ISI:000078311800005	en
dc.identifier.volume	12	en
dc.identifier.issue	4	en
dc.identifier.spage	373	en
dc.identifier.epage	395	en