Local and Global Path Planning for Autonomous Mobile Robots Using Hierarchized Maps

Matsui, Nobuyuki; Jayarathne, Isuru; Kageyama, Hiroaki; Naruse, Keitaro; Urabe, Kazuki; Sakamoto, Ryota; Mashiko, Tomoaki; Kumada, Seiya; Yaguchi, Yuichi; Yashiro, Makoto; Ishibashi, Yasutsugu; Yutani, Miki

doi:10.20965/jrm.2022.p0086

Cited by 4 publications

(4 citation statements)

References 21 publications

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“…Then the user chooses robot mode for mapping or mode for delivery (sender). The mapping area must be formed first so that it can then be traversed [103] [104].…”

Section: Methodsmentioning

confidence: 99%

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Ubaidillah,

Sukri

2023

Journal of Robotics and Control

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One of the technologies in the industrial world that utilizes robots is the delivery of goods in warehouses, especially in the goods distribution process. This is very useful, especially in terms of resource efficiency and reducing human error. The existing system in this process usually uses the line follower concept on the robot's path with a camera sensor to determine the destination location. If the line and destination are not detected by the sensor or camera, the robot's navigation system will experience an error. it can happen if the sensor is dirty or the track is faded. The aim of this research is to develop a robot navigation system for efficient goods delivery in warehouses by integrating odometry and Dijkstra's algorithm for path planning. Holonomic robot is a robot that moves freely without changing direction to produce motion with high mobility. Dijkstra's algorithm is added to the holonomic robot to obtain the fastest trajectory. by calculating the distance of the node that has not been passed from the initial position, if in the calculation the algorithm finds a shorter distance it will be stored as a new route replacing the previously recorded route. the distance traversed by the djikstra algorithm is 780 mm while a distance of 1100 mm obtains the other routes. The time for using the Djikstra method is proven to be 5.3 seconds faster than the track without the Djikstra method with the same speed. Uneven track terrain can result in a shift in the robot's position so that it can affect the travel data. The conclusion is that odometry and Dijkstra's algorithm as a planning system and finding the shortest path are very efficient for warehouse robots to deliver goods than ordinary line followers without Dijkstra, both in terms of distance and travel time.

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“…Then the user chooses robot mode for mapping or mode for delivery (sender). The mapping area must be formed first so that it can then be traversed [103] [104].…”

Section: Methodsmentioning

confidence: 99%

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Ubaidillah,

Sukri

2023

Journal of Robotics and Control

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“…Global planning considers road networks, traffic conditions, and any known obstacles or restrictions [ 165 , 166 , 167 ]. It sets long-term goals and paths for the vehicle to follow and goals to achieve.…”

Section: Common Controller Layout For Automated Vehiclesmentioning

confidence: 99%

“…Behavioural planning occurs between the start and finish of the ride. It involves more immediate decisions, such as when to change lanes, selection of safe target velocity in current road conditions and before the upcoming road curves, or navigating through a busy intersection [ 167 , 168 , 169 ]. Behavioural planning works with constraints set by the global plan but reacts to the nearby environment and situations that happen in real time and are predicted for the next moments.…”

Section: Common Controller Layout For Automated Vehiclesmentioning

confidence: 99%

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

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Integrated chassis control systems represent a significant advancement in the dynamics of ground vehicles, aimed at enhancing overall performance, comfort, handling, and stability. As vehicles transition from internal combustion to electric platforms, integrated chassis control systems have evolved to meet the demands of electrification and automation. This paper analyses the overall control structure of automated vehicles with integrated chassis control systems. Integration of longitudinal, lateral, and vertical systems presents complexities due to the overlapping control regions of various subsystems. The presented methodology includes a comprehensive examination of state-of-the-art technologies, focusing on algorithms to manage control actions and prevent interference between subsystems. The results underscore the importance of control allocation to exploit the additional degrees of freedom offered by over-actuated systems. This paper systematically overviews the various control methods applied in integrated chassis control and path tracking. This includes a detailed examination of perception and decision-making, parameter estimation techniques, reference generation strategies, and the hierarchy of controllers, encompassing high-level, middle-level, and low-level control components. By offering this systematic overview, this paper aims to facilitate a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, providing insights into their applications, strengths, and limitations.

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“…Effective algorithms like A*, D*, Theta*, and hybrid A* have been instrumental in this regard. [100][101][102] Stentz 103 introduces an efficient and optimal algorithm for planning paths in various environments, including unknown, partially known, and changing ones, with a focus on partially known scenarios. The algorithm operates within a directed graph framework, utilizing cost values for robot perception and mapping, yielding promising results in comparison to other planners, particularly for larger environments.…”

Section: Algorithms and Automation For Applicationsmentioning

confidence: 99%

Rovers with Rocker-Bogie Mechanisms: A review of progress and innovations in design, manufacturing, and control

Rajath,

Shivakumar,

Pradhan

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Rovers equipped with Rocker-Bogie mechanisms have emerged as pivotal assets in the domains of interplanetary and terrain exploration. To carry out scientific investigations, Rovers have undergone significant advancements. This review comprehensively examines the progress and innovations associated with the design, manufacturing, and control of these robotic systems. The Rocker-Bogie Mechanism and its kinematic variations available are identified and discussed. Given the importance of kinematic studies, viewpoints on wheel-terrain interaction and framework models for analyses are presented. A key limitation in the analyzed papers was the restriction of choice of design process to the conventional method for which, an approach to design through a Generative Design algorithm has been indicated. The studies indicated the material choice of Titanium and other alloys, the manufacturing choice of Additive Manufacturing which has been analyzed, for which suggestions for advancements and alternatives are highlighted. It was observed that a standard and general procedure to automate the operations of the rovers is still lacking. This review can provide a guide for new advancements in Rocker-Bogie-based rovers.

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Local and Global Path Planning for Autonomous Mobile Robots Using Hierarchized Maps

Cited by 4 publications

References 21 publications

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Application of Odometry and Dijkstra Algorithm as Navigation and Shortest Path Determination System of Warehouse Mobile Robot

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Rovers with Rocker-Bogie Mechanisms: A review of progress and innovations in design, manufacturing, and control

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