Probabilistic road maps with obstacle avoidance in cluttered dynamic environment

Rami Al-Hmouz*, Tauseef Gulrez, Adel Al-Jumaily

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04
EditorsM. Palaniswami, B. Krishnamachari, A. Sowmya, S. Challa, M. Palaniswami, B. Krishnamachari, A. Sowmya, S. Challa
Pages241-245
Number of pages5
Publication statusPublished - 2004
Externally publishedYes
Event2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04 - Melbourne, Australia
Duration: Dec 14 2004Dec 17 2004

Publication series

NameProceedings of the 2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04

Conference

Conference2004 Intelligent Sensors, Sensor Networks and Information Processing Conference, ISSNIP '04
Country/TerritoryAustralia
CityMelbourne
Period12/14/0412/17/04

ASJC Scopus subject areas

  • Engineering(all)

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