Heuristic search approach for mobile robot trap recovery

Yilin Zhao; Spencer L. BeMent

doi:10.1117/12.48087

1 March 1991 Heuristic search approach for mobile robot trap recovery

Yilin Zhao, Spencer L. BeMent

Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.48087
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Trap recovery is required for autonomous mobile robots that sense and avoid local obstacles as they maneuver along a goal-oriented path. We have developed a heuristic search-based recovery algorithm that is invoked immediately whenever a potential trap situation is identified. This algorithm generates intermediate short distance target points (via points) that are used as temporary goals to guide the robot out of the trap situation and allow it to reach a final destination without " stopping-then-thinking" whenever traps are encountered. Real-time navigation is achieved by reacting quickly to the local sensor-detected feedback information and employing on-line reasoning and planning to provide trap recovery. I.

Citation Download Citation

Yilin Zhao and Spencer L. BeMent "Heuristic search approach for mobile robot trap recovery", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); https://doi.org/10.1117/12.48087

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available