Sensor-based navigation for car-like mobile robots based on a generalized voronoi graph

Keiji Nagatani, Yosuke Iwai, Yutaka Tanaka

研究成果: Article査読

17 被引用数 (Scopus)


Our research objective is to realize sensor-based navigation for car-like mobile robots. We adopt the generalized Voronoi graph (GVG) for the robot's local path and a map representation. It has the advantage to describe the mobile robot's path for sensor-based navigation from the point of view of completeness and safety. However, it is impossible to apply the path to car-like mobile robots directly, because the limitation of the minimum turning radius for a car-like robot may prevent it from following the GVG exactly. To solve this problem, we propose a local smooth path-planning algorithm for car-like mobile robots. Basically, an initial local path is generated by a conventional path-planning algorithm using GVG theory and it is modified smoothly by a Bezier curve to enable the car-like robots to follow it by maximizing our evaluation function. In this paper, we introduce a local smooth path-planning algorithm based on the GVG and explain the details of our evaluation function. Simulation and experimental results support the validity of the algorithm.

ジャーナルAdvanced Robotics
出版ステータスPublished - 2003

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用


「Sensor-based navigation for car-like mobile robots based on a generalized voronoi graph」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。