Desempeño en métodos de navegación autónoma para robots móviles

Abstract:

This paper presents a comparison of response times, route optimization, and graph complexity in path planning methods for autonomous mobile robots. The developments of Voronoi, Potential Fields, Probabilistic Roadmap, and Decomposition in cells for navigation in the same environment are contrasted and validated for a variable number of obstacles. Evaluations show that the path generation method by Potential Fields improves navigation with respect to the shortest route obtained, the Rapidly Random Tree method generates graphs of less complexity, and the Decomposition in cells method performs with less response time and lower computational cost.

Año de publicación:

2020

Keywords:

Fuente:

google