Urban mobile robot routing using fast search random tree method (RRT) in obstacle environments

IF 1.8 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Hsin-Yin Hsieh, Kuan‑Hung Chen, Chich-Jen Shieh, Shavan Askar, Mostafa Jalalnezhad
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Abstract

In this paper, the objective of path planning and control systems for robot is multifactorial. The method used for navigation algorithms based on is closed-loop random trees with quick search or CL-RRT. In this algorithm, each robot will grow a tree from its current location to the target or zone target is developed. The main advantage of this method is the ability to function in complex environments. For use this method, it is necessary that the CL-RRT algorithm for robot navigation online, be extended. In online mode, the robot does not have any information about the environment and through its sensors, which detect the environment and the ability to function in environments with obstacles dynamic and could face a new obstacle or the possibility of an obstacle’s dynamic (the other a robot) to change its direction during motion. Performance of the design path used with design the controller for robot in an environment with various obstacles is evaluated, and then this design is for a group of robots used. To coordinate among agents and to ensure that there is no conflict between them, there is strategy based on priority assignment and LOS method. The strategy used in a way that ensures that the collision between agents does not happen and benefits of the design methods path used to keep. As a result of this strategy can be divided into two parts, the first part of the prioritization robots and the second part of the strategy, no conflict robot is in motion. In this paper, the problem of forming a group of robots has been investigated. In other words, the agents move in the number of agents must be a specific form. The agents according to a number try to set form (originally defined) to its motion to follow, also when faced with obstacles or other agents of its priorities is no conflict with obstacles or other factors and this moment it is possible to change the shape of their, if this will happen again the situation changes be considered form to make its motion.

Abstract Image

在障碍物环境中使用快速搜索随机树法 (RRT) 进行城市移动机器人路由选择
在本文中,机器人路径规划和控制系统的目标是多因素的。基于闭环随机树与快速搜索或 CL-RRT 的导航算法所使用的方法。在这种算法中,每个机器人都会从其当前位置向目标或区域目标生长一棵树。这种方法的主要优点是能够在复杂环境中发挥作用。要使用这种方法,必须扩展用于机器人在线导航的 CL-RRT 算法。在在线模式下,机器人没有任何关于环境的信息,而是通过其传感器检测环境,并能够在有障碍物的动态环境中运行,可能会面临新的障碍物或障碍物的动态(另一个是机器人)在运动过程中改变方向的可能性。在有各种障碍物的环境中,对用于设计机器人控制器的设计路径的性能进行评估,然后将此设计用于一组机器人。为了协调各代理之间的关系并确保它们之间没有冲突,我们采用了基于优先权分配和 LOS 方法的策略。该策略的使用方式可确保代理之间不会发生碰撞,并保持设计方法路径的优势。由于这种策略可分为两部分,第一部分是优先分配机器人,第二部分是不发生冲突的机器人。本文研究了组成机器人群的问题。换句话说,代理移动中的代理数量必须是一种特定的形式。代理根据一个数字尝试设置形式(最初定义的)来跟随其运动,同样,当面临障碍或其他代理的优先级与障碍或其他因素没有冲突时,此刻有可能改变其形状,如果这种情况再次发生,则会考虑改变形式来使其运动。
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来源期刊
CiteScore
3.60
自引率
13.60%
发文量
536
审稿时长
4.8 months
期刊介绍: The Journal of the Brazilian Society of Mechanical Sciences and Engineering publishes manuscripts on research, development and design related to science and technology in Mechanical Engineering. It is an interdisciplinary journal with interfaces to other branches of Engineering, as well as with Physics and Applied Mathematics. The Journal accepts manuscripts in four different formats: Full Length Articles, Review Articles, Book Reviews and Letters to the Editor. Interfaces with other branches of engineering, along with physics, applied mathematics and more Presents manuscripts on research, development and design related to science and technology in mechanical engineering.
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