A Practical RoadmapforthePathPlanning ofMobile Robots inRectilinear Environments

Inthis paper wepropose apractical roadmap formobile robots withdifferential wheel base. Theroadmap is designed forarectilinear environment which covers mostofindoor buildings. Indesigning theroadmap, weputemphasis ontwoissues: (1)humanfriendly pathand(2)lowcomputation. First, weanalyze howhumanmove.Fromthehuman movement, wefind outthat humannavigate inawaythat minimizes thesumofamuscle andabrain energy. Onthebasis ofthehumanpath, wesuggest analgorithm withlowcalculations. Experimental results showthat thepathgenerated by ourmethod ismorehuman-friendly andnatural.

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