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Collision-free path generation for a mobile robot by an artificial transformation of obstacle spaces

Published online by Cambridge University Press:  09 March 2009

H. Ozaki ,
T. Shimadzu  and
A. Mohri
H. Ozaki
Affiliation:
Department of Mechanical Engineering, Kurume College of Technology, 1232 Komorino-machi, Kurume (Japan)
T. Shimadzu
Affiliation:
Department of Mechanical Engineering Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka (Japan)
A. Mohri
Affiliation:
Department of Mechanical Engineering Production Division, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki Higashiku, Fukuoka (Japan)
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Summary

This paper presents a new method to generate a smooth collision-free path of a mobile robot. The path is generated as follows: First, the obstacle spaces are artificially contracted to obtain an initial collision-free path which leads the mobile robot from the start point to the goal; then the path is iteratively modified to avoid the obstacle spaces which are gradually restored (this is carried out in consideration of the index introduced to evaluate the correctness of the path), in the final step, all the obstacle spaces are fully restored and the obtained path becomes a desirable collision-free one. The proposed method is effectively applied to an example of planning planar movements of a mobile robot.

Keywords

Collision-free; Path planning; B-spline; Mobile robot
Type
Research Article
Information
Robotica , Volume 7 , Issue 2 , April 1989 , pp. 139 - 142
Copyright
Copyright © Cambridge University Press 1989

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