Work

Hexagonal Grid-Based Framework for Mobile Robot Navigation

Year: 2021

Type: article

Abstract: The paper addresses the problem of mobile robots’ navigation using a hexagonal lattice. We carried out experiments in which we used a vehicle equipped with a set of sensors. Based on the data, a traversable map was created. The experimental results proved that hexagonal maps of an environment can be easily built based on sensor readings. The path planning method has many advantages: the situation in which obstacles surround the position of the robot or the target is easily detected, and we can influence the properties of the path, e.g., the distance from obstacles or the type of surface can be taken into account. A path can be smoothed more easily than with a rectangular grid.

Source: Remote Sensing

DOI: 10.3390/rs13214216

Authors: Piotr Duszak, Barbara Siemiątkowska, Rafał Więckowski

Institutions: Warsaw University of Technology, Łukasiewicz Research Network - Industrial Research Institute for Automation and Measurements

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Sustainable cities and communities

Open Access status: gold

Estimated APC paid: $2,592