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To navigate in complex environments, a robot needs to reach a compromise between the need for having efficient and optimized trajectories and the need for reacting to unexpected events. This paper presents a new sensor based non-holonomic Path Planner which integrates the global motion planning and local obstacle avoidance capabilities. In the first step the safest areas in the environment are extracted...
This paper presents a new path planning method which operates in two steps. In the first step the safest areas in the environment are extracted by means of a Voronoi diagram. In the second step fast marching method is applied to the Voronoi extracted areas in order to obtain the shortest path. In this way the trajectory obtained is the shortest between the safe possible ones. This two step method...
This article presents a new algorithm to recognize natural distinctive places such as corridors, halls, narrowings, corridors with doors opening on the left side, etc., from indoor environments using Hidden Markov Models (HMM). HMM give a stochastic solution which can be used to make decisions on localization, navigation and path-planning. The environment is modeled as a topo-geometric map which combines...
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