![]() Cited 21 July 2006 (2006)īuyurgan, N., et al.: Real-time routing selection for automated guided vehicles in a flexible manufacturing system. Control, Measurement and Instrumentation, Brno University of Technology, Czech Republic. Vancouver, Canada, 16–Īutonomous mobile robotics toolbox. In: Proceedings of the IEEE Congress on Evolutionary Computation, pp. Robotica 7, 49–63 (1989)Īshlock, D.A., Manikas, T.W., Ashenayi, K.: Evolving a diverse collection of robot path planning problems. Kluwer, Boston (1997)Īrkin, R.C.: Navigational path planning for a vision-based mobile robot. In addition, the results presented in this paper from a number of realistic simulated environments show that the adoption of waypoints significantly reduces the time to calculate a deliberative path.Īguirre, E., González, A.: A fuzzy perceptual model for ultrasound sensors applied to intelligent navigation of mobile robots. Thirdly, the use of waypoints allows escape from certain obstacle configurations that would normally trap robots navigated under the control of purely reactive methods. Secondly, the presence of a reactive navigator means it is always possible to continue directed movements in unknown or changing environments or when time constraints become particularly demanding. ![]() Firstly, in contrast with many deliberative approaches, complete knowledge of the environment is not required, nor is it necessary to make assumptions regarding the geometry of obstacles. The new method is shown to have a number of practical advantages. In the current work, an incremental decision tree method is used to navigate the robot reactively from the specified initial position to its destination avoiding obstacles in its path and a genetic algorithm method is used to perform the deliberative navigation. The waypoints are used largely to provide the interface between reactive and deliberative navigation and a range of methods could be used for either type of navigation. The approach uses reactive exploration to generate waypoints that can then be used by a deliberative system to plan future movements through the same environment. In this paper we propose a novel waypoint-based robot navigation method that combines reactive and deliberative actions.
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