| dc.creator | Oliveira, Guilherme Carlos R. de | |
| dc.creator | Carvalho, Kevin B. de | |
| dc.creator | Brandão, Alexandre S. | |
| dc.date | 2019-04-01T16:24:36Z | |
| dc.date | 2019-04-01T16:24:36Z | |
| dc.date | 2019-03 | |
| dc.date.accessioned | 2023-09-27T21:00:44Z | |
| dc.date.available | 2023-09-27T21:00:44Z | |
| dc.identifier | 14248220 | |
| dc.identifier | https://doi.org/10.3390/s19051049 | |
| dc.identifier | http://www.locus.ufv.br/handle/123456789/24239 | |
| dc.identifier.uri | https://repositorioslatinoamericanos.uchile.cl/handle/2250/8952795 | |
| dc.description | This paper introduces a strategy for the path planning problem for platforms with limited sensor and processing capabilities. The proposed algorithm does not require any prior information
but assumes that a mapping algorithm is used. If enough information is available, a global path planner finds sub-optimal collision-free paths within the known map. For the real time obstacle avoidance task, a simple and cost-efficient local planner is used, making the algorithm a hybrid global
and local planning solution. The strategy was tested in a real, cluttered environment experiment using the Pioneer P3-DX and the Xbox 360 kinect sensor, to validate and evaluate the algorithm efficiency. | |
| dc.format | pdf | |
| dc.format | application/pdf | |
| dc.language | eng | |
| dc.publisher | Sensors | |
| dc.relation | Volume 19, Issue 05, Article 1049, Pages 01- 14, March 2019 | |
| dc.rights | Open Access | |
| dc.subject | Path planning | |
| dc.subject | Global and local planner | |
| dc.subject | Hybrid strategy | |
| dc.subject | A* search | |
| dc.subject | Tangential escape | |
| dc.title | A hybrid path-planning strategy for mobile robots with limited sensor capabilities | |
| dc.type | Artigo | |
