Asymptotical RRT-Based Path Planning for Mobile Robots in Dynamic Environments

Du, Zhuoyang; Liu, Shan

doi:10.23919/chicc.2018.8482649

Cited by 6 publications

(2 citation statements)

References 13 publications

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“…The model defined by the Eqs. (10)-(12) considers only the measurements of the odometry at time t − 1 and t. The value observed by the odometry sensor M o is modelled by (13), where M i = (δ rot1δtransδrot2 ) T and E o = ( rot1 trans rot2 ) T . The matrix E o represents the Gaussian noises for each motion portion.…”

Section: Odometry Modelmentioning

confidence: 99%

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Coelho¹,

Pinto²,

Souza³

et al. 2019

Robotica

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SUMMARYIn recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.

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Section: Odometry Modelmentioning

confidence: 99%

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Coelho¹,

Pinto²,

Souza³

et al. 2019

Robotica

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show abstract

“…In order to improve the sampling efficiency, Du [3] proposed a heuristic sampling algorithm based on the prior knowledge of the previous planning results and the potential environmental field. This is a progressive RRT-based path planning method for mobile robots in a dynamic environment, by which a smooth feasible path can be planned.…”

Section: Introductionmentioning

confidence: 99%

An Area-Optional Regeneration RRT Algorithm for Dynamic Path Planning of Service Robots

Long

Tao

Zhou

et al. 2021

Lecture Notes in Electrical Engineering

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At present, the walking routes of service robots are mostly formulated and fixed. Therefore, there are many places that the robots cannot reach and appear inflexible. When obstacles are on the walking route of the robot, collisions may occur. Thus, an area-optional regeneration Rapidly-Exploring Random Tree (RRT) algorithm for dynamic path planning is proposed to plan the walking route of the service robot in real-time in an environment with moving obstacles in this paper. First, sub-regions that need path planning can be determined according to the target points, and each sub-region corresponds to a root node, so that a feasible path that does not touch obstacles through a narrow area can be found faster, and the speed of path planning can be improved. Secondly, in real-time path planning, it is analyzed that whether tree nodes near moving obstacles need to be removed. Besides, how to remove, add, and reconnect are also analyzed, avoiding global planning and improving the efficiency of path planning in frequently changing environments. It is verified by simulation that the efficiency of path planning can be improved after dividing the area, and the effectiveness and superiority of the algorithm are verified in a real-time changing environment.

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Design of Mobile Robot Control Infrastructure Based on Decision Trees and Adaptive Potential Area Methods

Dönmez

Kocamaz

2019

Iran J Sci Technol Trans Electr Eng

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Asymptotical RRT-Based Path Planning for Mobile Robots in Dynamic Environments

Cited by 6 publications

References 13 publications

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

An Area-Optional Regeneration RRT Algorithm for Dynamic Path Planning of Service Robots

Design of Mobile Robot Control Infrastructure Based on Decision Trees and Adaptive Potential Area Methods

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