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Efficient Environment Representation for Mobile Robot Path Planning using CVT-PRM with Halton Sampling SCIE SCOPUS
- Title
- Efficient Environment Representation for Mobile Robot Path Planning using CVT-PRM with Halton Sampling
- Authors
- Byungjae Park; Chung, WK
- Date Issued
- 2012-10-25
- Publisher
- Institution of Engineering and Technology
- Abstract
- A centroidal Voronoi tessellation-based probabilistic roadmap (CVT-PRM) and its construction method for mobile robot path planning are introduced. The CVT-PRM efficiently encoded the entire unoccupied region of the environment by autonomously rearranging the positions of nodes via CVT and Halton sampling. Simulation results verified that the CVT-PRM can encode the entire unoccupied region efficiently, using evenly distributed nodes.
- ISSN
- 0013-5194
- Article Type
- Article
- Citation
- Electronics Letters, vol. 48, no. 22, page. 1397 - 1399, 2012-10-25
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