https://scholars.lib.ntu.edu.tw/handle/123456789/502571
標題: | T-vectors make autonomous mobile robot motion planning and self-referencing more efficient. | 作者: | Janét J.A REN-CHYUAN LUO Kay, Michael G. |
公開日期: | 1994 | 卷: | 1 | 起(迄)頁: | 587-594 | 來源出版物: | IEEE International Conference on Intelligent Robots and Systems | 摘要: | A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing. © 1994 Institute of Electrical and Electronics Engineers Inc.. All rights reserved. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/502571 https://www.scopus.com/inward/record.uri?eid=2-s2.0-0002208077&doi=10.1109%2fIROS.1994.407421&partnerID=40&md5=16a470329039f34e28bfc115821be158 |
ISSN: | 21530858 | DOI: | 10.1109/IROS.1994.407421 | SDG/關鍵字: | Mobile robots; Motion planning; Robot programming; Autonomous Mobile Robot; Data complexity; Data size; Mobile robot motion-planning; Motion-planning; Self-referencing; Static and dynamic environments; Traversability; Vector-modeling; Vectors |
顯示於: | 電機工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。