TY - GEN
T1 - Probabilistic road maps with obstacle avoidance in cluttered dynamic environment
AU - Al-Hmouz, Rami
AU - Gulrez, Tauseef
AU - Al-Jumaily, Adel
PY - 2004
Y1 - 2004
N2 - This paper presents an experimental study of a Probabilistic Road Map (PRM) based obstacle avoiding algorithm, for motion planning of a non-holonomic mobile robot in cluttered dynamic environment. The PRM approach uses a fast and simple local planner to build a network representation of the configuration space. It is trading off the distance to both static objects and moving obstacles in compute the travelled path. Our work has been implemented and tested on Player / Stage, real time robotic software, in extensive simulation runs. The different experiments that runs had demonstrate that our approach is well suited to control the motions of a robot in a cluttered environment and demonstrates its advantages over other techniques.
AB - This paper presents an experimental study of a Probabilistic Road Map (PRM) based obstacle avoiding algorithm, for motion planning of a non-holonomic mobile robot in cluttered dynamic environment. The PRM approach uses a fast and simple local planner to build a network representation of the configuration space. It is trading off the distance to both static objects and moving obstacles in compute the travelled path. Our work has been implemented and tested on Player / Stage, real time robotic software, in extensive simulation runs. The different experiments that runs had demonstrate that our approach is well suited to control the motions of a robot in a cluttered environment and demonstrates its advantages over other techniques.
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UR - http://www.scopus.com/inward/citedby.url?scp=28844485692&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:28844485692
SN - 0780388933
SN - 9780780388932
T3 - Proceedings of the 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04
SP - 241
EP - 245
BT - Proceedings of the 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04
A2 - Palaniswami, M.
A2 - Krishnamachari, B.
A2 - Sowmya, A.
A2 - Challa, S.
A2 - Palaniswami, M.
A2 - Krishnamachari, B.
A2 - Sowmya, A.
A2 - Challa, S.
T2 - 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04
Y2 - 14 December 2004 through 17 December 2004
ER -