Abstract
For navigating mobile robots the central problems of path planning and collision avoidance have to be solved. In this paper we propose a method to solve the (local) path planning problem in a reactive fashion given a landmark-based representation of the environment. The perceived obstacles define a point set for a Delaunay tessellation based on which a traversal graph containing possible paths to the target position is constructed. By applying A* we find a short and safe path through the obstacles. Although the traversal graph is recomputed in every iteration in order to achieve a high degree of reactivity the method guarantees stable paths in a static environment; oscillating behavior known from other local methods is precluded. This method has been successfully implemented on our Middle-size robots.
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Beck, D., Ferrein, A., Lakemeyer, G. (2009). Landmark-Based Representations for Navigating Holonomic Soccer Robots. In: Iocchi, L., Matsubara, H., Weitzenfeld, A., Zhou, C. (eds) RoboCup 2008: Robot Soccer World Cup XII. RoboCup 2008. Lecture Notes in Computer Science(), vol 5399. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02921-9_3
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DOI: https://doi.org/10.1007/978-3-642-02921-9_3
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