Carnegie Mellon University
Path Planning for the Cye Robot

Parag Batavia and Illah Nourbakhsh
Proceedings of IROS 2000, October, 2000, pp. 15 - 20.

  • Adobe portable document format (pdf) (80KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

We describe the Cye personal robot, concentrating on its path planning and navigation. We start out with a brief description of the general problem, followed by more detail on the Cye robot. After that, we concentrate on the path planner, which uses a global potential field approach, combined with a novel optimization criterion. This ensures that the robot maintains adequate distance from obstacles, while finding an optimal path which incorporates partial terrain knowledge. This system has been in use for over five months, with approximately 200 installations. As we empirically show, it is robust and can handle dynamic obstacles and imperfect maps.


Text Reference
Parag Batavia and Illah Nourbakhsh , "Path Planning for the Cye Robot," Proceedings of IROS 2000, October, 2000, pp. 15 - 20.

BibTeX Reference
   author = "Parag Batavia and Illah {Nourbakhsh }",
   title = "Path Planning for the Cye Robot",
   booktitle = "Proceedings of IROS 2000",
   pages = "15 - 20",
   month = "October",
   year = "2000",
   volume = "1",