A Novel Obstacle Bitmap Formulation for Homotopic Path Planning Method Applied to Terrestrial Mobile Robot

2022 IEEE International Conference on Engineering Veracruz (ICEV) Pub Date : 2022-10-24 DOI:10.1109/ICEV56253.2022.9959627

G. Diaz-Arango, A. F. Jaramillo-Alvarado, J. Huerta-Chua, J. R. Garcia-Baez, J. Hernández-Capistran, O. J. Velandia-Caballero, A. Diaz-Hernandez, H. Vázquez-Leal, V. Jiménez-Fernández, C. Gamino-Aparicio

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Abstract

In this paper a new bitmap representation of configuration space compatible with the Homotopic Path Planning Method (HPPM) is presented. Bitmap methodology has been developed to extend the application field of the HPPM in discrete workspaces. In the proposed bitmap representation each obstacle is modeled in the configuration space as a semi-algebraic expression using the Smooth High Canonical Piecewise Linear (SHC-PWL) formulation. For HPPM a bitmap representation through semi-algebraic expressions implies the capability to solve complex environments with obstacles in continuous and discrete configuration spaces. Three numerical study cases are presented to show the potential applications of the proposed bitmap representation for applications in real autonomous mobile robots. Finally, some points and future work derived from the analysis of study cases are discussed.

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一种基于同伦路径规划方法的障碍物位图公式在陆地移动机器人中的应用

本文提出了与同伦路径规划方法(HPPM)兼容的位图空间表示方法。位图方法的发展是为了扩大HPPM在离散工作空间中的应用范围。在提出的位图表示中，每个障碍物在位形空间中被建模为使用光滑高正则分段线性(SHC-PWL)公式的半代数表达式。对于HPPM，通过半代数表达式的位图表示意味着在连续和离散配置空间中解决具有障碍物的复杂环境的能力。给出了三个数值研究案例，以展示所提出的位图表示在实际自主移动机器人中的潜在应用。最后，通过对研究案例的分析，对今后的工作进行了探讨。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2022 IEEE International Conference on Engineering Veracruz (ICEV)

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