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Proceedings Paper

World Modeling And Path Planning For Autonomous Mobile Robots
Author(s): Glen E. Monaghan
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Paper Abstract

An autonomous mobile robot that is capable of planning "intelligent" paths through its world must have a suitable representation, or model, of that world and must be able to interpret its sensory inputs in terms of that world model. Furthermore, the robot must be able to modify its planned movements (and world model) based on differences between current perceptions of the world and the existing model. This paper describes a two-part world model and a method for path planning that are particularly suitable for use in known, man-made environments. The basic model treats the robot's world as a hierarchical network of logical regions with arbitrary polygonal boundaries. Because the regions need not be convex, they may correspond one-to-one with intuitively partitioned, but irregularly shaped, real-world regions such as rooms, hallways, and open work areas. Obstructions within regions are also modeled by arbitrary polygons. A "complex configuration space" is derived from this basic model and is used to plan goal-oriented paths in a top-down fashion. Dynamic replanning is used to cope with changes in the environment.

Paper Details

Date Published: 11 December 1985
PDF: 8 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950825
Show Author Affiliations
Glen E. Monaghan, US Air Force Academy (United States)

Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

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