Incorporate Robot Size and Sensing Uncertainties in Sensor-Based Path Planning
نویسندگان
چکیده
Abstract: This article presents a sensor-based path planner for mobile robots with the robot size and sensing uncertainties directly incorporated into the planning functions. The obstacle boundary is represented as a numbered set of distance sensing data rather than an analytical expression. Referring to the robot size and sensing uncertainties, the path safety and blocking boundaries are analyzed. Accordingly, the algorithm to generate a subgoal-obstacle pair is given. The planner can be applied to autonomous navigation in unstructured environments. Some examples are presented to validate our approach.
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