Por favor, use este identificador para citar o enlazar este ítem: https://repositorio.cetys.mx/handle/60000/812
Título : Autonomous navigation for a differential drive robot in a partially known environment
Autor : Olvera Hale, Tomas
Otros Autores: Alemán, Jesús
Orozco Rosas, Ulises
Autor: Picos, Kenia
Palabras clave : Algorithms;Path-planning trajectory
Sede: Campus Ensenada
Fecha de publicación : sep-2019
Resumen : This paper presents a proposed algorithm with the implementation of the A* algorithm for path planning in a partially known environment. By using a differential mobile robot, the navigation is accomplished with a LiDAR sensor that detects any potential changes in the environment. The proposed algorithm estimates a safety path-planning trajectory from the origin of the robot to a target coordinate given by the user. If the robot encounters an unknown obstacle that does not belong to the known environment it will update the map, and recalculate the trajectory, executing it and proceed with the new path. Experimental results were considered in an indoors cluttered environment given by unknown obstacles, and partially known maps.
metadata.dc.description.url: https://www.spiedigitallibrary.org/conference-proceedings-of-spie/11136/2528517/Autonomous-navigation-for-a-differential-drive-robot-in-a-partially/10.1117/12.2528517.short?SSO=1
URI : https://repositorio.cetys.mx/handle/60000/812
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