Motion Planning, Reactive Methods, and Learning Techniques for Mobile Robot Navigation
نویسنده
چکیده
2 State of the art in robot motion algorithms 3 2.1 Global path-planners . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.1 Grid methods (cell decomposition) . . . . . . . . . . . . . 3 2.1.2 Roadmap methods . . . . . . . . . . . . . . . . . . . . . . 4 2.2 Local and reactive algorithms . . . . . . . . . . . . . . . . . . . . 4 2.2.1 Potential Field Methods (PF) . . . . . . . . . . . . . . . . 4 2.2.2 Vector Field Histogram (VFH, VFH+, VFH*) . . . . . . 5 2.2.3 Dynamic Window Approach (DWA) . . . . . . . . . . . . 5 2.2.4 Elastic Strips (ES) . . . . . . . . . . . . . . . . . . . . . . 5 2.2.5 Nearness Diagram (ND) . . . . . . . . . . . . . . . . . . . 6 2.2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
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