A Dynamic Fusion Pathfinding Algorithm Using Delaunay Triangulation and Improved A-Star for Mobile Robots

Liu, Zhihai; Liu, Hanbin; Lu, Zhenguo; Zeng, Qingliang

doi:10.1109/access.2021.3055231

Cited by 65 publications

(13 citation statements)

References 38 publications

(81 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The function is an obstacle avoidance function. The traditional obstacle list information [40] is shown in Equation (27), including global known obstacles obs_closed and unknown static obstacles obs_static, which lacks the consideration of unknown dynamic obstacles obs_dynamics(t). For this reason, this paper optimizes the obs to update dynamically over time, as shown in Equation ( 28):…”

Section: Modifying the Dist(v ω) Functionmentioning

confidence: 99%

An Effective Dynamic Path Planning Approach for Mobile Robots Based on Ant Colony Fusion Dynamic Windows

Yang

Lixia

et al. 2022

Machines

View full text Add to dashboard Cite

To further improve the path planning of the mobile robot in complex dynamic environments, this paper proposes an enhanced hybrid algorithm by considering the excellent search capability of the ant colony optimization (ACO) for global paths and the advantages of the dynamic window approach (DWA) for local obstacle avoidance. Firstly, we establish a new dynamic environment model based on the motion characteristics of the obstacles. Secondly, we improve the traditional ACO from the pheromone update and heuristic function and then design a strategy to solve the deadlock problem. Considering the actual path requirements of the robot, a new path smoothing method is present. Finally, the robot modeled by DWA obtains navigation information from the global path, and we enhance its trajectory tracking capability and dynamic obstacle avoidance capability by improving the evaluation function. The simulation and experimental results show that our algorithm improves the robot's navigation capability, search capability, and dynamic obstacle avoidance capability in unknown and complex dynamic environments.

show abstract

Section: Modifying the Dist(v ω) Functionmentioning

confidence: 99%

An Effective Dynamic Path Planning Approach for Mobile Robots Based on Ant Colony Fusion Dynamic Windows

Yang

Lixia

et al. 2022

Machines

View full text Add to dashboard Cite

show abstract

“…Song et al [16] used three smoothers to reduce the number of turning points and removed some redundant path nodes, but this method is susceptible to the number of nodes and requires multiple iterations. Liu et al [17] combined the Delaunay triangulation method with the A-star algorithm to reduce the search range of the A-star algorithm, but this method requires an additional calculation of the Delaunay triangulation, and the path planning efficiency is low. Tang et al [18] set the filter function to avoid the turning angle of the path obtained by the A-star from being too large and combined the cubic B-spline interpolation algorithm to smooth the path.…”

Section: Simultaneous Localization and Mapping (Slam)mentioning

confidence: 99%

ASL-DWA: An Improved A-Star Algorithm for Indoor Cleaning Robots

Liu

Zhang

2022

IEEE Access

View full text Add to dashboard Cite

The traditional A-star algorithm has many search nodes, and the obtained path has polylines and cannot avoid local unknown obstacles. In response to these problems, this paper proposes a new improved A-star algorithm suitable for indoor cleaning robots, called ASL-DWA (A Star Leading Dynamic Window Approach). First, to solve the problem of many search nodes in the A-star algorithm, a new hybrid heuristic function that combines Euclidean distance and point-to-line distance is proposed, thereby reducing the number of search nodes. Then, to solve the problem that the A-star algorithm has a polyline path and cannot avoid local unknown obstacles, this paper designs the global path yaw angle according to the relationship between the real-time position of the robot and the global path, which is added as a score item to the traditional score function. A decay coefficient with prediction function is also added to the score function to reduce the risk of the algorithm falling into local optima. Finally, a mechanism to adaptively adjust the coefficient according to the distance between the robot and the target point is designed, thereby realizing ASL-DWA. The ASL-DWA algorithm is tested in three indoor environments and compared with traditional algorithms. The experimental results show that ASL-DWA can meet the path planning requirements of mobile robots in indoor environments, and has obvious advantages over traditional algorithms.INDEX TERMS Indoor cleaning robot, A-star algorithm, hybrid heuristic function, global path yaw angle, adaptive weighted score function

show abstract

“…Inseparable from the Delaunay triangulation is the Voronoi 31 . Taking a two-dimensional plane point set as an example, first, draw a vertical bisector between every two points, and then connect them to each other so that the final topological structure is a Voronoi diagram, as shown in Fig.…”

Section: Volume Computationmentioning

confidence: 99%

Detection of bulk feed volume based on binocular stereo vision

Liu

Dai

Zeng

et al. 2022

Sci Rep

Self Cite

View full text Add to dashboard Cite

The volume detection of medical mice feed is crucial to understand the food intake requirements of mice at different growth stages and to grasp their growth, development, and health status. Aiming at the problem of volume calculation in the way of feed bulk in mice, a method for detecting the bulk volume of feed in mice based on binocular stereo vision was proposed. Firstly, the three-dimensional point coordinates of the feed's surface were calculated using the binocular stereo vision three-dimensional reconstruction technology. The coordinates of these dense points formed a point cloud, and then the projection method was used to calculate the volume of the point cloud; and finally, the volume of the mice feed was obtained. We use the stereo matching data set provided by the Middlebury evaluation platform to conduct experimental verification. The results show that our method effectively improves the matching degree of stereo matching and makes the three-dimensional point coordinates of the obtained feed's surface more accurate. The point cloud is then denoised and Delaunay triangulated, and the volume of the tetrahedron obtained after the triangulation is calculated and summed to obtain the total volume. We used different sizes of wood instead of feed for multiple volume calculations, and the average error between the calculated volume and the real volume was 7.12%. The experimental results show that the volume of the remaining feed of mice can be calculated by binocular stereo vision.

show abstract

A Dynamic Fusion Pathfinding Algorithm Using Delaunay Triangulation and Improved A-Star for Mobile Robots

Cited by 65 publications

References 38 publications

An Effective Dynamic Path Planning Approach for Mobile Robots Based on Ant Colony Fusion Dynamic Windows

An Effective Dynamic Path Planning Approach for Mobile Robots Based on Ant Colony Fusion Dynamic Windows

ASL-DWA: An Improved A-Star Algorithm for Indoor Cleaning Robots

Detection of bulk feed volume based on binocular stereo vision

Contact Info

Product

Resources

About