Conference Papers

Permanent URI for this collectionhttps://idr.nitk.ac.in/handle/123456789/28506

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Author: search.filters.author.Guruprasad, K.R.Subject: search.filters.subject.mobile robot

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    EgressBug: A real time path planning algorithm for a mobile robot in an unknown environment
    (2012) Guruprasad, K.R.
    This paper addresses the problem of path planning for a mobile robot in a region occupied by finite number obstacles. The region and the obstacles are not known a priori to the robot. We present an online path planning algorithm called EgressBug, that makes the robot reach any specified point in the space, and stops by reporting failure when the specified goal point does not belong to the free space. The proposed EgressBug algorithm uses simple move toward a point and wall following behaviors. The algorithm is illustrated with the help of examples, and paths generated by the EgressBug algorithm are compared with those generated by the Bug2 and TangentBug algorithms. © 2012 Springer-Verlag.
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    Geometrical Mapping of an Initially Unknown Region by a Mobile Robot
    (Institute of Electrical and Electronics Engineers Inc., 2019) Marpally, S.R.; Nagarakshith, M.S.; Sadananda, A.; Guruprasad, K.R.
    In this paper, we address a problem of mapping an unknown region of interest by a mobile robot. Unlike the conventional exploration and mapping techniques where the occupancy map of a spatially discretized environment is obtained, in the proposed Geometric Mapping (G-Mapping) strategy, the map is obtained in the form of geometric models of the obstacles, in a continuous space. For simplicity, we consider convex polygonal obstacles within a convex region. The proposed exploration strategy is implemented using MATLAB. The simulation results are presented to illustrate and demonstrate the G-Mapping strategy. © 2019 IEEE.