Wavefront Method-Based Local-Path Planning for a Mobile Robot with a Vision System
Ji‐Wook Kwon, Dong-hoon Yang, Dongkyoung Chwa, Suk-Kyo Hong · 2006 SICE-ICASE International Joint Conference · 2006
This paper proposes a local path planning algorithm for a mobile robot with a vision system. Based on projective geometry and the wavefront-based skeleton method, the proposed algorithm performs obstacle extraction, 2D-3D transformation, and local path planning. The effectiveness of the proposed method is illustrated by experiments where a vision-equipped mobile robot navigates a maze using the proposed path planning algorithm