New roadmap approach to automatic path planning for mobile robot navigation

J. M. Ibarra-Zannatha; J. H. Sossa-Azuela; H. Gonzalez-Hernandez

New roadmap approach to automatic path planning for mobile robot navigation

J. M. Ibarra-Zannatha, J. H. Sossa-Azuela, H. Gonzalez-Hernandez

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

Resumen

This paper describes a new road map approach to find a collision-free path for an AGV (Auto Guided Vehicle), taking into account smoothness, length and available space restrictions. The proposed approach uses a top view image of a room in which there are some obstacles to be avoided. First of all, the obstacles in the image are thickened using morphological techniques, to obtain the free space the room. Secondly, this space is skeletonized to obtain a graph representation of AGV workspace, enriched with geometrical information of the free space. Finally, the best path is chosen using an optimization technique with a new criteria based on length, availability of free space, curvature and smoothness.

Idioma original	Inglés
Páginas (desde-hasta)	2803-2808
Número de páginas	6
Publicación	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volumen	3
Estado	Publicada - 1994
Publicado de forma externa	Sí
Evento	Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3) - San Antonio, TX, USA Duración: 2 oct. 1994 → 5 oct. 1994

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title = "New roadmap approach to automatic path planning for mobile robot navigation",

abstract = "This paper describes a new road map approach to find a collision-free path for an AGV (Auto Guided Vehicle), taking into account smoothness, length and available space restrictions. The proposed approach uses a top view image of a room in which there are some obstacles to be avoided. First of all, the obstacles in the image are thickened using morphological techniques, to obtain the free space the room. Secondly, this space is skeletonized to obtain a graph representation of AGV workspace, enriched with geometrical information of the free space. Finally, the best path is chosen using an optimization technique with a new criteria based on length, availability of free space, curvature and smoothness.",

author = "Ibarra-Zannatha, {J. M.} and Sossa-Azuela, {J. H.} and H. Gonzalez-Hernandez",

year = "1994",

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journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

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note = "Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3) ; Conference date: 02-10-1994 Through 05-10-1994",

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TY - JOUR

T1 - New roadmap approach to automatic path planning for mobile robot navigation

AU - Ibarra-Zannatha, J. M.

AU - Sossa-Azuela, J. H.

AU - Gonzalez-Hernandez, H.

PY - 1994

Y1 - 1994

N2 - This paper describes a new road map approach to find a collision-free path for an AGV (Auto Guided Vehicle), taking into account smoothness, length and available space restrictions. The proposed approach uses a top view image of a room in which there are some obstacles to be avoided. First of all, the obstacles in the image are thickened using morphological techniques, to obtain the free space the room. Secondly, this space is skeletonized to obtain a graph representation of AGV workspace, enriched with geometrical information of the free space. Finally, the best path is chosen using an optimization technique with a new criteria based on length, availability of free space, curvature and smoothness.

AB - This paper describes a new road map approach to find a collision-free path for an AGV (Auto Guided Vehicle), taking into account smoothness, length and available space restrictions. The proposed approach uses a top view image of a room in which there are some obstacles to be avoided. First of all, the obstacles in the image are thickened using morphological techniques, to obtain the free space the room. Secondly, this space is skeletonized to obtain a graph representation of AGV workspace, enriched with geometrical information of the free space. Finally, the best path is chosen using an optimization technique with a new criteria based on length, availability of free space, curvature and smoothness.

UR - http://www.scopus.com/inward/record.url?scp=0028742677&partnerID=8YFLogxK

M3 - Artículo de la conferencia

AN - SCOPUS:0028742677

SN - 0884-3627

VL - 3

SP - 2803

EP - 2808

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

T2 - Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3)

Y2 - 2 October 1994 through 5 October 1994

ER -

New roadmap approach to automatic path planning for mobile robot navigation

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