Publication detail

Hybrid Navigation Method for Dynamic Indoor Environment Based on Mixed Potential Fields

VĚCHET, S. CHEN, K. KREJSA, J.

Czech title

Hybrid Navigation Method for Dynamic Indoor Environment Based on Mixed Potential Fields

English title

Hybrid Navigation Method for Dynamic Indoor Environment Based on Mixed Potential Fields

Type

Paper in proceedings (conference paper)

Language

cs

Original abstract

Navigation task for highly populated indoor environment belongs to the most difficult issues in mobile robotics. Presented paper deals with a hybrid approach which combines three methods: potential fields, Voronoi diagrams and rule based path planner. Such combination takes the best of all mentioned methods to create reliable navigation system with maximum emphasis on safety. The meth-od was verified using real mobile robot in common environment with dynamic ob-stacles.

English abstract

Navigation task for highly populated indoor environment belongs to the most difficult issues in mobile robotics. Presented paper deals with a hybrid approach which combines three methods: potential fields, Voronoi diagrams and rule based path planner. Such combination takes the best of all mentioned methods to create reliable navigation system with maximum emphasis on safety. The meth-od was verified using real mobile robot in common environment with dynamic ob-stacles.

Keywords in Czech

Navigation, Potential Fields, Mobile Robotics

Keywords in English

Navigation, Potential Fields, Mobile Robotics

Released

2013-10-07

ISBN

978-3-319-02293-2

Book

Recent Technological and Scientific Advances

Pages from–to

575–582

Pages count

8

BIBTEX


@inproceedings{BUT102810,
  author="Stanislav {Věchet} and Kuo-Shen {Chen} and Jiří {Krejsa}",
  title="Hybrid Navigation Method for Dynamic Indoor Environment Based on Mixed Potential Fields",
  booktitle="Recent Technological and Scientific Advances",
  year="2013",
  pages="575--582",
  doi="10.1007/978-3-319-02294-9\{_}73",
  isbn="978-3-319-02293-2"
}