Autonomous Navigation of Nonholonomic Mobile Robots Using Generalized Voronoi Diagram
文献类型：期刊论文
| 作者 | Minglei Shao; Dongik Shin; Kyoosik Shin |
| 刊名 | Journal of the Korean society of manufacturing technology Engineers
 |
| 出版日期 | 2015 |
| 英文摘要 | This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots. |
| 收录类别 | 其他 |
| 原文出处 | http://xueshu.baidu.com/s?wd=paperuri%3A%28b54f0186145b5dfd138ac4b8e9a0923a%29&filter=sc_long_sign&tn=SE_xueshusource_2kduw22v&sc_vurl=http%3A%2F%2Fwww.dbpia.co.kr%2Farticle%2F3609248&ie=utf-8 |
| 语种 | 韩文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/7558]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 作者单位 | Journal of the Korean society of manufacturing technology Engineers |
| 推荐引用方式 GB/T 7714 | Minglei Shao,Dongik Shin,Kyoosik Shin. Autonomous Navigation of Nonholonomic Mobile Robots Using Generalized Voronoi Diagram[J]. Journal of the Korean society of manufacturing technology Engineers,2015. |
| APA | Minglei Shao,Dongik Shin,&Kyoosik Shin.(2015).Autonomous Navigation of Nonholonomic Mobile Robots Using Generalized Voronoi Diagram.Journal of the Korean society of manufacturing technology Engineers. |
| MLA | Minglei Shao,et al."Autonomous Navigation of Nonholonomic Mobile Robots Using Generalized Voronoi Diagram".Journal of the Korean society of manufacturing technology Engineers (2015). |
入库方式： OAI收割
来源：深圳先进技术研究院
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