The Approximate Cell Decomposition with Local Node Refinement Global Path Planning Method: Path Nodes Refinement and Curve Parametric Interpolation

Katevas, NI; Tzafestas, SG; Pnevmatikatos, CG

dc.contributor.author	Katevas, NI	en
dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Pnevmatikatos, CG	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	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12934
dc.subject	Approximate cell decomposition	en
dc.subject	Cubic splines	en
dc.subject	Curve parametric interpolation	en
dc.subject	Global path planning	en
dc.subject	Mobile robot	en
dc.subject	Path refinement	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Approximation theory	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Constraint theory	en
dc.subject.other	Interpolation	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation	en
dc.subject.other	Approximate cell decomposition	en
dc.subject.other	Cubic splines	en
dc.subject.other	Curve parametric interpolation	en
dc.subject.other	Path nodes refinement	en
dc.subject.other	Mobile robots	en
dc.title	The Approximate Cell Decomposition with Local Node Refinement Global Path Planning Method: Path Nodes Refinement and Curve Parametric Interpolation	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1008034314006	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1008034314006	en
heal.language	English	en
heal.publicationDate	1998	en
heal.abstract	The paper presents a novel global path planning approach for mobile robot navigation in two dimensional workspace cluttered by polygonal obstacles. The core of the planning method introduced is based on the approximate cell decomposition method. The advantage of the new method is the employment of novel path refinement procedures of the paths produced by approximate cell decomposition that are based on local characteriscics of the workspace. Furthermore, the refined path is parametrically interpolated by cubic splines via a physical centripetal model, introducing the dynamic constraints of mobile robots' motion to the path construction. The method has been implemented both in a computer graphics simulation and on a real mobile robot cruising at indoor environments. Planned paths on several configurations are presented.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/A:1008034314006	en
dc.identifier.isi	ISI:000076301500008	en
dc.identifier.volume	22	en
dc.identifier.issue	3-4	en
dc.identifier.spage	289	en
dc.identifier.epage	314	en