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Publikācija: Mobile Robot Path Planning for Indoor Use

Publication Type Full-text conference paper published in conference proceedings indexed in SCOPUS or WOS database
Funding for basic activity Unknown
Defending: ,
Publication language English (en)
Title in original language Mobile Robot Path Planning for Indoor Use
Field of research 1. Natural sciences
Sub-field of research 1.2 Computer and information sciences
Authors Agris Ņikitenko
Aleksis Liekna
Ilze Andersone
Mārtiņš Ekmanis
Ēvalds Urtāns
Keywords Embedded planning, indoor robotics, real time path planning
Abstract The paper presents practical and theoretical results acquired during a scientific project addressing multi-robot control and management challenges with possible application in greenhouse automation solutions. The main focus of the paper is path planning of mobile robots addressing computation time and memory constraints in embedded robotic systems. The paper presents an analysis that is based on practically experienced cases and proposes modifications of the discussed RRT-based methods in order to ensure better quality of the planning result as well as saved time in specific cases. A key factor of the compareson analysis is time and memory usage that usually are limited in embedded devices like small scale mobile robots. The paper also presents experiment results collected using a prototype robotic system.
Hyperlink: http://tf.llu.lv/conference/proceedings2014/Papers/62_Nikitenko_A.pdf 
Reference Ņikitenko, A., Liekna, A., Andersone, I., Ekmanis, M., Urtāns, Ē. Mobile Robot Path Planning for Indoor Use. In: 13th International Scientific Conference "Engineering for Rural Development": Proceedings, Latvia, Jelgava, 29-30 May, 2014. Jelgava: 2014, pp.366-372. ISSN 1691-5976.
Additional information Citation count:
ID 25889