Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators
For planning a robot’s path inside a large building with one or more elevators, we develop a topological map, called the building Voronoi graph. Using the building Voronoi graph, the robot finds the shortest path to the goal and follows the path. In the case where the robot detects an object with ar...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/17/9691 |