Hexagonal Grid-Based Framework for Mobile Robot Navigation

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...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Piotr Duszak, Barbara Siemiątkowska, Rafał Więckowski
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	mapping data fusion path planning hexagonal grid Science Q
Acceso en línea:	https://doaj.org/article/5a2874613a8048e7b19c04a7d9f5e287
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:5a2874613a8048e7b19c04a7d9f5e287
record_format	dspace
spelling	oai:doaj.org-article:5a2874613a8048e7b19c04a7d9f5e2872021-11-11T18:50:22ZHexagonal Grid-Based Framework for Mobile Robot Navigation10.3390/rs132142162072-4292https://doaj.org/article/5a2874613a8048e7b19c04a7d9f5e2872021-10-01T00:00:00Zhttps://www.mdpi.com/2072-4292/13/21/4216https://doaj.org/toc/2072-4292The 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.Piotr DuszakBarbara SiemiątkowskaRafał WięckowskiMDPI AGarticlemappingdata fusionpath planninghexagonal gridScienceQENRemote Sensing, Vol 13, Iss 4216, p 4216 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	mapping data fusion path planning hexagonal grid Science Q
spellingShingle	mapping data fusion path planning hexagonal grid Science Q Piotr Duszak Barbara Siemiątkowska Rafał Więckowski Hexagonal Grid-Based Framework for Mobile Robot Navigation
description	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.
format	article
author	Piotr Duszak Barbara Siemiątkowska Rafał Więckowski
author_facet	Piotr Duszak Barbara Siemiątkowska Rafał Więckowski
author_sort	Piotr Duszak
title	Hexagonal Grid-Based Framework for Mobile Robot Navigation
title_short	Hexagonal Grid-Based Framework for Mobile Robot Navigation
title_full	Hexagonal Grid-Based Framework for Mobile Robot Navigation
title_fullStr	Hexagonal Grid-Based Framework for Mobile Robot Navigation
title_full_unstemmed	Hexagonal Grid-Based Framework for Mobile Robot Navigation
title_sort	hexagonal grid-based framework for mobile robot navigation
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/5a2874613a8048e7b19c04a7d9f5e287
work_keys_str_mv	AT piotrduszak hexagonalgridbasedframeworkformobilerobotnavigation AT barbarasiemiatkowska hexagonalgridbasedframeworkformobilerobotnavigation AT rafałwieckowski hexagonalgridbasedframeworkformobilerobotnavigation
_version_	1718431703026892800

Hexagonal Grid-Based Framework for Mobile Robot Navigation

Ejemplares similares