A Comparison of Path Planning Algorithms for Omni-Directional Robots in Dynamic Environments

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dc.contributor.authorHaro, F.
dc.contributor.authorTorres Torriti, Miguel Attilio
dc.date.accessioned2022-05-17T15:57:22Z
dc.date.available2022-05-17T15:57:22Z
dc.date.issued2006
dc.description.abstractThe scope of this paper is to analyze and compare three path planning methods for omni-directional robots, which are based on a) the bug algorithm, b) the potential fields algorithm, and c) the A* algorithm for minimum cost path with multiresolution grids. The approaches are compared in terms of computational costs and the resulting path lengths. Results obtained indicate that the bug algorithm is a suitable choice for this type of application as its computational cost is lower than that of the other methods. Furthermore, minor modifications of the standard bug algorithm, such as the tangent following modification, allow the path planner to handle well the situations encountered in typical multi-robot environments
dc.fuente.origenIEEE
dc.identifier.doi10.1109/LARS.2006.334319
dc.identifier.isbn142440536X
dc.identifier.urihttps://doi.org/10.1109/LARS.2006.334319
dc.identifier.urihttps://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4133821
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/64084
dc.information.autorucEscuela de ingeniería ; Torres Torriti, Miguel Attilio ; S/I ; 96590
dc.language.isoen
dc.nota.accesoContenido parcial
dc.publisherIEEE
dc.relation.ispartofIEEE Latin American Robotics Symposium (3° : 2006 : Santiago, Chile)
dc.rightsacceso restringido
dc.subjectPath planning
dc.subjectMobile robots
dc.subjectComputational efficiency
dc.subjectRobot kinematics
dc.subjectAlgorithm design and analysis
dc.subjectCosts
dc.subjectRobot control
dc.subjectDesign engineering
dc.subjectPerformance analysis
dc.titleA Comparison of Path Planning Algorithms for Omni-Directional Robots in Dynamic Environmentses_ES
dc.typecomunicación de congreso
sipa.codpersvinculados96590
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