A new hybrid navigation algorithm for mobile robots in environments with incomplete knowledge

Zhu, Yi; Zhang, Tao; Song, Jingyan; Li, Xiaqin

doi:10.1016/j.knosys.2011.11.009

Cited by 58 publications

(27 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However it may take the robot away from its destination [9]. Using roaming trails to solve this problem may stop the robot in front of an obstacle [10].…”

Section: Review and Analysis Of Reported Algorithmsmentioning

confidence: 99%

An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

Zohaib¹,

Pasha²,

Javaid³

et al. 2014

SIC

View full text Add to dashboard Cite

This paper proposes a novel obstacle avoidance algorithm for autonomous mobile robot control. The proposed approach brings a solution to the problem of robot traversal in critical shaped environments and offers several advantages compared to the reported approaches. The algorithmic approach, named as, Intelligent Follow the Gap Method (IFGM) is based on improved Intelligent Bug Algorithm (IBA) and Follow the Gap Method (FGM). The robot field of view is taken into consideration. The IBA avoids obstacles by following their edge and scanning the path to destination, thus making the approach goal-oriented avoiding local minimum problem. To characterize the performance of IFGM, various scenarios of obstacles are considered. These scenarios range from having obstacles defined by simple and symmetrical shapes to critical shaped obstacles. The simulation results demonstrate that the algorithm results in safer and smoother trajectories in the presence of obstacles. It offers fast convergence and does not suffer from local minima. Finally, the performance comparison of the proposed algorithm with that of the reported approaches in terms of distance-time plots confirms the efficacy of the presented approach. The proposed algorithm lends itself to future implementations in the navigation of mobile and industrial robots, especially in applications exhibiting crucial time and critical obstacles including disaster management, spy, elderly people assistance and soccer games.

show abstract

“…However it may take the robot away from its destination [9]. Using roaming trails to solve this problem may stop the robot in front of an obstacle [10].…”

Section: Review and Analysis Of Reported Algorithmsmentioning

confidence: 99%

An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

Zohaib¹,

Pasha²,

Javaid³

et al. 2014

SIC

View full text Add to dashboard Cite

show abstract

“…In the literature, Arkin and Murphy were the first who have made a combination between the reactive and the deliberative methods, which leads to the hybrid approach [1]. Zhu has used this combination in his work [12], letting the reactive approach playing a dominant role in case of conflict. Tian has designed in [13] a hybrid navigation control strategy for rescue robot.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target

Ayedi

Boujelben

Rekik

2018

Journal of Robotics

View full text Add to dashboard Cite

We are interested in developing a new control architecture to command a mobile robot in a partially known environment. For that purpose, a hybrid control architecture is adopted, combining the reactive and the deliberative method. The reactive method consists of the hierarchical fuzzy controllers based on Type-2 Fuzzy Logic System (T2-FLS), dedicated to commanding the robot towards a mobile target while avoiding unexpected obstacles. A comparative study is made to show the efficiency of T2-FLS against Type-1 Fuzzy Logic System (T1-FLS). Additionally, the used deliberative method is the sliding mode, allowing the robot to track the mobile goal trajectory. Simulation results are given finally to test the proposed architecture.

show abstract

“…Ref. [10] categorized the prevailing motion planning algorithms into two types that are respectively applied in environments with complete or incomplete knowledge. Although many studies focus on motion planning in environments with incomplete knowledge [11], we believe that methods based on complete knowledge of the environment are not fully mature (the reasons will be presented later).…”

Section: Introductionmentioning

confidence: 99%

A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

Shao

2015

Knowledge-Based Systems

139

101

View full text Add to dashboard Cite

a b s t r a c tThis paper proposes a motion planner for autonomous parking. Compared to the prevailing and emerging studies that handle specific or regular parking scenarios only, our method describes various kinds of parking cases in a unified way regardless they are regular parking scenarios (e.g., parallel, perpendicular or echelon parking cases) or not. First, we formulate a time-optimal dynamic optimization problem with vehicle kinematics, collision-avoidance conditions and mechanical constraints strictly described. Thereafter, an interior-point simultaneous approach is introduced to solve that formulated dynamic optimization problem. Simulation results validate that our proposed motion planning method can tackle general parking scenarios. The tested parking scenarios in this paper can be regarded as benchmark cases to evaluate the efficiency of methods that may emerge in the future. Our established dynamic optimization problem is an open and unified framework, where other complicated user-specific constraints/optimization criteria can be handled without additional difficulty, provided that they are expressed through inequalities/polynomial explicitly. This proposed motion planner may be suitable for the next-generation intelligent parking-garage system.

show abstract

A new hybrid navigation algorithm for mobile robots in environments with incomplete knowledge

Cited by 58 publications

References 22 publications

An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

An Improved Algorithm for Collision Avoidance in Environments Having U and H Shaped Obstacles

Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target

A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

Contact Info

Product

Resources

About