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Preprints of the Keldysh Institute of Applied Mathematics, 2015, 015, 28 pp.
(Mi ipmp1978)
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This article is cited in 6 scientific papers (total in 6 papers)
Passframe Network — combined operating environment model for a mobile robot
O. I. Davydov, A. K. Platonov
Abstract:
The paper describes an internal information presentation for controlling movements of an autonomous mobile robot RB-2. It proposes a model of mobile robot operating environment that combines metric, topological and semantic models. The model proposes a term Passframe as a key element and describes its structure and main features. An operating environment model's structure is presented as a network of Passframes. Data received from a laser scanner provides input to an algorithm for building individual Passframes as well as the network as a whole. This paper describes a procedure for planning robot's movements between a starting point and a target. All motion planning algorithms, presented in this paper, have been implemented in RB-2's movement control software.
Keywords:
mobile robot, Passframe, laser scanner, operational system model, motion planning algorithm, robot RB-2.
Citation:
O. I. Davydov, A. K. Platonov, “Passframe Network — combined operating environment model for a mobile robot”, Keldysh Institute preprints, 2015, 015, 28 pp.
Linking options:
https://www.mathnet.ru/eng/ipmp1978 https://www.mathnet.ru/eng/ipmp/y2015/p15
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Statistics & downloads: |
Abstract page: | 174 | Full-text PDF : | 77 | References: | 27 |
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