National Research Council of Canada. NRC Institute for Information Technology
IEEE/RSJ/GI International Conference on Intelligent Robots Systems, September 12-16, 1994, Munich, Germany
This paper describes a navigation system which unites three important capabilities: it enables a mobile robot to avoid obstacles, map the environment, and plan local paths around more complex obstacles while navigating. This system extends and integrates the histogram grid representation and the modified A* algorithm. Our system uses the histogram grid representation and updating method to represent the robot's environment and update a map quickly and reliably with the data from a laser range scanner. Our system also uses the modified A* algorithm to search this grid to plan and replan local paths. The navigation system that we have developed enables a mobile robot to smoothly avoid obstacles while navigating towards a goal at speeds of 0.15 to 0.35 meters per second, speeds which are faster than those typically obtained in similar systems
Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94.2 (1994).