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Nikos I. Katevas Spyros G. Tzafestas Christos G. Pnevmatikatos 《Journal of Intelligent and Robotic Systems》1998,22(3-4):289-314
The paper presents a novel global path planning approach for mobile robot navigation in two dimensional workspace cluttered by polygonal obstacles. The core of the planning method introduced is based on the approximate cell decomposition method. The advantage of the new method is the employment of novel path refinement procedures of the paths produced by approximate cell decomposition that are based on local characteriscics of the workspace. Furthermore, the refined path is parametrically interpolated by cubic splines via a physical centripetal model, introducing the dynamic constraints of mobile robots' motion to the path construction. The method has been implemented both in a computer graphics simulation and on a real mobile robot cruising at indoor environments. Planned paths on several configurations are presented. 相似文献
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Katevas N.I. Sgouros N.M. Tzafestas S.G. Papakonstantinou G. Beattie P. Bishop J.M. Tsanakas P. Koutsouris D. 《Robotics & Automation Magazine, IEEE》1997,4(4):60-70
The SENARIO project is develoing a sensor-aided intelligent navigation system that provides high-level navigational aid to users of powered wheelchairs. The authors discuss new and improved technologies developed within SENARIO concerning task/path planning, sensing and positioning for indoor mobile robots as well as user interface issues. The autonomous mobile robot SENARIO, supports semi- or fully autonomous navigation. In semi-autonomous mode the system accepts typical motion commands through a voice-activated or standard joystick interface and supports robot motion with obstacle/collision avoidance features. Fully autonomous mode is a superset of semi-autonomous mode with the additional ability to execute autonomously high-level go-to-goal commands. At its current stage, the project has succeeded in fully supporting semi-autonomous navigation, while experiments on the fully autonomous mode are very encouraging 相似文献
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Leligou Helen C. Panagiotis Athanasoulis Tsakou Gianna Vanderheiden Gregg Touliou Katerina Kocsis Otilia Katevas Nikos 《Universal Access in the Information Society》2019,18(2):361-385
Universal Access in the Information Society - An increasing percentage of the population needs assistance services for a wide range of activities related to their independent living, which can be... 相似文献
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