The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
A mobile robot exploration algorithm
Abstract
An algorithm for path planning to a goal with a mobile robot in an unknown environment is presented. The robot maps the environment only to the extent necessary to achieve the goal. Mapping is achieved using tactile sensing while the robot is executing a path to the specified goal. Paths are generated by treating unknown regions in the environment as free space. As obstacles are encountered en route to a goal, the model of the environment is updated and a new path to the goal is planned and executed. Initially the paths to the goal generated by this algorithm will be negotiable paths. However, as the robot acquires more knowledge about the environment, the length of the planned paths will be optimized. The optimization criteria can be modified to favor or avoid unexplored regions in the environment. The algorithm makes use of the quadtree data structure to model the environment and uses the distance transform methodology to generate paths for the robot to execute.>
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Citations
Cites
Lumelsky, V. J., & Stepanov, A. A. (1987) · Algorithmica · doi:10.1007/bf01840369 · Cited by 699
Cited by
Optimal and efficient path planning for partially-known environments
Stentz, A. (2002) · Proceedings of the 1994 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1994.351061 · Cited by 929
Silver, D. (2005) · Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment · doi:10.1609/aiide.v1i1.18726 · Cited by 688
Optimal Multirobot Path Planning on Graphs: Complete Algorithms and Effective Heuristics
Yu, J., & LaValle, S. M. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2593448 · Cited by 331
Metadata
- Authors
- Zelinsky, A.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1992
- Volume
- 8
- Issue
- 6
- Pages
- 707-717
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2163502413
- Cited by
- 273
- References
- 1
- FWCI
- 6.24
- Type
- journal article
- Language
- en
- Open access
- closed
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- Zelinsky, A. (1992). A mobile robot exploration algorithm. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.182671
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