Terrain Traversability and Optimal Path Planning in 3D Uneven Environment for an Autonomous Mobile Robot

Belaidi, Hadjira; Bentarzi, Hamid; Belaidi, Abderrahmane; Hentout, Abdelfetah

doi:10.1007/s13369-014-1352-8

Cited by 9 publications

(3 citation statements)

References 18 publications

(26 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Compared to the existing works discussed in the introduction, more study is required to solve multiple robot collision avoidance, especially in crowded environments [4], [16]. In addition, the current studies' optimality still needs to be improved [5]- [8].…”

Section: Related Workmentioning

confidence: 99%

“…With 𝑑 𝑖𝑗 is the distance separating two adjacent control points 𝑄 𝑖(𝑗−1) , 𝑄 𝑖𝑗 (the distance along a path segment). In 2D space, it can be calculated using Equation (16):…”

Section: 𝑅′(𝑔) = 𝐴′(𝑔) − 𝑤′(𝑔) 𝑅(𝑔) 𝑤(𝑔) = 𝑤 𝑗 𝐵 𝑗𝑘 ′(𝑔) − 𝑤′(𝑔) 𝑅(𝑔...mentioning

confidence: 99%

“…First, the proposed technique finds each robot's free, smooth, optimal path while avoiding collision with the existing obstacles. Our mobile robot path planning strategy based on NURBS, previously published in [15], [16], is used to plan a free optimal path for multi-robots. However, this work will generalize the approach for multi-robots while avoiding collisions with obstacles and between the robots themselves.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

NURBs Based Multi-robots Path Planning with Obstacle Avoidance

Belaidi,

Demim

2024

J. Comput. Theor. Appl.

View full text Add to dashboard Cite

The primary problem for multi-robot displacement and motion phase solving requires that the robots prevent themselves from colliding with each other as well as stationary obstacles. In certain situations, robot conflict is unavoidable if one robot views its neighbors as immovable obstacles. Hence, this paper proposes a new NURBs (Non-Uniform Rational B-spline) based algorithm for multi-robot path planning in a crowded environment. First, the proposed technique finds each robot's free, smooth, optimal path while avoiding collision with the existing obstacles. Secondly, the prospect of possible collision between the preplanned trajectories will be computed to allow the robots to navigate in the same workspace and coordinate between them. Then, each robot's time to arrive at potential collision sites is computed based on its speed. As a result, the robots involved in the collision must choose whether to use the robot priority technique to prevent the collision. Simulation results under different scenarios and comparisons with previous works are provided to validate the work. The obtained results prove that the proposed approach is accurate (as the robot's instantaneous speed is taken into consideration), fast (as there is no need to broadcast the robots’ positions), the robots’ paths are optimal and smooth (to avoid jerk movements), and the approach ensures that the robots will not be trapped by local minima problem.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: 𝑅′(𝑔) = 𝐴′(𝑔) − 𝑤′(𝑔) 𝑅(𝑔) 𝑤(𝑔) = 𝑤 𝑗 𝐵 𝑗𝑘 ′(𝑔) − 𝑤′(𝑔) 𝑅(𝑔...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

NURBs Based Multi-robots Path Planning with Obstacle Avoidance

Belaidi,

Demim

2024

J. Comput. Theor. Appl.

View full text Add to dashboard Cite

show abstract

Obstacle Avoidance Robot Based on Arduino for Live Video Transmission and Surveillance

Kulkarni,

Samanvita,

Gatade

et al. 2023

Lecture Notes in Electrical Engineering

View full text Add to dashboard Cite

Computing the trajectories for the development of optimal routes

Zazai

Fügenschuh

2020

Optim Eng

View full text Add to dashboard Cite

Planning the construction of new transport routes or power lines on terrain is usually carried out manually by engineers, with no guarantee of optimality. We introduce a new approach for the computation of an optimal trajectory for the construction of new transit routes and power lines between two locations on a submanifold $$U\subset \mathbb {R}^{3}$$ U ⊂ R 3 representing the topography of a terrain. U is approximatively modeled by a special weighted grid. On this grid, the shortest paths for the construction of new routes are determined, whereby we consider three optimization criteria: routes with minimum distance, routes with lowest construction costs and routes with minimum absolute altitude variations or minimum absolute gradients. Subsequently, a combination of these criteria is used to expand this problem into a multi-criteria optimization problem. A shortest path algorithm, such as the Dijkstra algorithm, is used to compute optimal compromises for the construction of new routes.

show abstract

Terrain Traversability and Optimal Path Planning in 3D Uneven Environment for an Autonomous Mobile Robot

Cited by 9 publications

References 18 publications

NURBs Based Multi-robots Path Planning with Obstacle Avoidance

NURBs Based Multi-robots Path Planning with Obstacle Avoidance

Obstacle Avoidance Robot Based on Arduino for Live Video Transmission and Surveillance

Computing the trajectories for the development of optimal routes

Contact Info

Product

Resources

About