Object representation by means of nonminimal division quadtrees and octrees
ACM Transactions on Graphics (TOG)
Choosing nodes in parametric curve interpolation
Computer-Aided Design
Region representation: quadtrees from boundary codes
Communications of the ACM
Robot Motion Planning
Intelligent Robotic Planning Systems
Intelligent Robotic Planning Systems
Topological modeling and classification in home environment using sonar gridmap
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Adaptive node sampling method for probabilistic roadmap planners
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
incremental topological modeling using sonar gridmap in home environment
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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The paper presents a novel global path planning approach for mobile robotnavigation in two dimensional workspace cluttered by polygonal obstacles.The core of the planning method introduced is based on the approximate celldecomposition method. The advantage of the new method is the employment ofnovel path refinement procedures of the paths produced by approximate celldecomposition that are based on local characteriscics of the workspace.Furthermore, the refined path is parametrically interpolated by cubicsplines via a physical centripetal model, introducing the dynamicconstraints of mobile robots’ motion to the path construction. Themethod has been implemented both in a computer graphics simulation and on areal mobile robot cruising at indoor environments. Planned paths on severalconfigurations are presented.