Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Computational principles of mobile robotics
Computational principles of mobile robotics
Robot Motion Planning
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Mobile Robot Localization and Map Building: A Multisensor Fusion Approach
Exact robot navigation using artificial potential functions
Exact robot navigation using artificial potential functions
A Probabilistically Robust Path Planning Algorithm for UAVs Using Rapidly-Exploring Random Trees
Journal of Intelligent and Robotic Systems
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This paper is focused on path planning in environments modelled using continuous probabilistic maps, in particular, maps where obstacles are modelled using the sum of Gaussian distributions. Potential field and roadmap based methods are suitable for these type of maps, but they have some disadvantages. In order to attenuate the disadvantages of the previous methods, a new method has been proposed which is a mixture of them. It performs path planning based on a potential field taking into account a roadmap as a source of potential. Moreover, some experiments have been done in order to compare the performance of them.