Path planning using multi-resolution map for a mobile robot

Yuichiro Toda, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Path planning is one of important topics in robotics. When the mobile robot is building the map, it is better to use the higher resolution map in order to build a precise map. However, after the map building, if the resolution of the built map is very high, it takes much computational memory and time to perform the path planning. To realize the effective path planning, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. The next aim is to represent the unknown areas in the built map. These are used for the path planning. The path planning is based on potential field method. The path planning uses steady-state genetic algorithm in order to set up the sub-target points. The experimental results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1276-1281
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Externally publishedYes
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Keywords

  • Multi-resolution map
  • Path planning
  • Potential field method

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Toda, Y., & Kubota, N. (2011). Path planning using multi-resolution map for a mobile robot. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 1276-1281). [6060530] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).