Path planning using multi-resolution map for a mobile robot

Yuichiro Toda; Naoyuki Kubota

Path planning using multi-resolution map for a mobile robot

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English
Title of host publication	SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	1276-1281
Number of pages	6
ISBN (Print)	9784907764395
Publication status	Published - Jan 1 2011
Externally published	Yes
Event	50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan Duration: Sep 13 2011 → Sep 18 2011

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Country	Japan
City	Tokyo
Period	9/13/11 → 9/18/11

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

Path planning using multi-resolution map for a mobile robot. / Toda, Yuichiro; Kubota, Naoyuki.

SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE), 2011. p. 1276-1281 6060530 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6060530, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 1276-1281, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.

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