TY - JOUR
T1 - Automatic path planning for a mobile robot among obstacles of arbitrary shape
AU - Díaz De León S, J. L.
AU - Sossa A, J. H.
N1 - Funding Information:
Manuscript received October 7, 1995; revised March 2, 1997. This work was supported in part by CONACYT and IMC. J. L. Díaz de León S. is with the Centro de Investigación en Computación-IPN (CIC-IPN), Unidad Profesional Adolfo López Mateos, México, D.F. 07738, México. J. H. Sossa A. is with the CIC-IPN and with the Departamento de Ingeniería Eléctrica, CINVESTAV-IPN, México 07300, D.F., México. Publisher Item Identifier S 1083-4419(98)02615-6.
PY - 1998
Y1 - 1998
N2 - A novel and fast path-planning method for a mobile robot (MR) among objects of arbitrary shape is described. It comprises two phases. During the first phase, the graph including all possible collision-free paths from a top view of the environment is first obtained. During the second phase, the optimal path for the MR is then selected. For this, the proposed method uses both the fast distance transformation (FDT) and variations of some topological methods as thinning and skeletonization, to obtain the free space skeleton. Unlike conventional methods, the proposed approach is capable to include the MR and the target intrinsically in the path and, at the same time it obtains the collision-free path's graph, taking advantage of the topological concept of hole. We propose to use a logical operator over the FDT instead of the classical morphologic operators over the discrete array (erosion and dilation), to obtain a much faster algorithm. The optimal path (in terms of length) is next selected and smoothed by conventional algorithms. The resultant path is finally used a reference by the MR.
AB - A novel and fast path-planning method for a mobile robot (MR) among objects of arbitrary shape is described. It comprises two phases. During the first phase, the graph including all possible collision-free paths from a top view of the environment is first obtained. During the second phase, the optimal path for the MR is then selected. For this, the proposed method uses both the fast distance transformation (FDT) and variations of some topological methods as thinning and skeletonization, to obtain the free space skeleton. Unlike conventional methods, the proposed approach is capable to include the MR and the target intrinsically in the path and, at the same time it obtains the collision-free path's graph, taking advantage of the topological concept of hole. We propose to use a logical operator over the FDT instead of the classical morphologic operators over the discrete array (erosion and dilation), to obtain a much faster algorithm. The optimal path (in terms of length) is next selected and smoothed by conventional algorithms. The resultant path is finally used a reference by the MR.
UR - http://www.scopus.com/inward/record.url?scp=0032094817&partnerID=8YFLogxK
U2 - 10.1109/3477.678654
DO - 10.1109/3477.678654
M3 - Artículo
SN - 1083-4419
VL - 28
SP - 467
EP - 472
JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IS - 3
ER -