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Advanced Path Planning for Mobile Entities最新文献

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Motion Planning for Mobile Robots 移动机器人的运动规划
Advanced Path Planning for Mobile Entities Pub Date : 2018-09-26 DOI: 10.5772/INTECHOPEN.76895
Xian-Qi Xu, Yang Yang, Siyu Pan
{"title":"Motion Planning for Mobile Robots","authors":"Xian-Qi Xu, Yang Yang, Siyu Pan","doi":"10.5772/INTECHOPEN.76895","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.76895","url":null,"abstract":"This chapter introduces two kinds of motion path planning algorithms for mobile robots or unmanned ground vehicles (UGV). First, we present an approach of trajectory planning for UGV or mobile robot under the existence of moving obstacles by using improved artificial potential field method. Then, we propose an I-RRT* algorithm for motion planning, which combines the environment with obstacle constraints, vehicle constraints, and kinematic constraints. All the simulation results and the experiments show that two kinds of algorithm are effective for practical use.","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125327347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Design and Implementation of a Demonstrative Palletizer Robot with Navigation for Educational Purposes 具有导航功能的示范码垛机器人的设计与实现
Advanced Path Planning for Mobile Entities Pub Date : 2018-09-26 DOI: 10.5772/INTECHOPEN.72872
D. Almanza-Ojeda, Perla-Lizeth Garza-Barron, Carl
{"title":"Design and Implementation of a Demonstrative Palletizer Robot with Navigation for Educational Purposes","authors":"D. Almanza-Ojeda, Perla-Lizeth Garza-Barron, Carl","doi":"10.5772/INTECHOPEN.72872","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.72872","url":null,"abstract":"Additional information is Abstract Nowadays, many kinds of robots are used in industries to help in manufacturing or placing objects. However, teaching young people and children about robot design and work can be difficult, turning this into a complicated area for them. This chapter pro - vides a detailed description of the design and implementation of a robotic arm mounted on a mobile robot using the LEGO Mindstorms NXT kit® and the starter kit DaNI 2.0, designed by National Instruments®. The mobile palletizer robot takes a box from place A and navigates in the indoor environment until it reaches a predefined place B. The characterization of the robotic arm is based on a parallel structure considering that the end-effector has only two points to hold the object; the gripper is also built using LEGO®. The robot performs the path computed using an A-star algorithm; moreover, actions like moving up and down, opening and closing the gripper and picking up the box and put - ting it down are executed by the robotic arm using the central unit of the NXT kit. Each stage of the robot design and implementation is explained in detail using diagrams and 3D graphical views with the aim of illustrating the implementation step by step for edu cational purposes (mainly for young people or children).","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132089356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Multi-Path Planning on a Sphere with LMI-Based Collision Avoidance 基于lmi避碰的球面多路径规划
Advanced Path Planning for Mobile Entities Pub Date : 2018-09-26 DOI: 10.5772/INTECHOPEN.71216
I. Okoloko
{"title":"Multi-Path Planning on a Sphere with LMI-Based Collision Avoidance","authors":"I. Okoloko","doi":"10.5772/INTECHOPEN.71216","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.71216","url":null,"abstract":"The problem of path planning with collision avoidance for autonomous flying vehicles will become more critical as the density of such vehicles increase in the skies. Global aerial navigation paths can be modeled as a path-planning problem on a unit sphere. In this work, we apply consensus theory and semidefinite programming to constrained multi-path planning with collision avoidance for a team of communicating vehicles navigating on a sphere. Based on their communication graph, each vehicle individually synthesizes a time-varying Laplacian-like matrix which drives each of them from their initial positions to consensus positions on the surface of the sphere. The solution trajectories obtained on the unit sphere are transformed back to actual vehicle coordinates. Formation configurations are realized via consensus theory, while collision avoidance is realized via semidefinite programming. A Lyapunov-based stability analysis is also provided, together with simulation results to demonstrate the effectiveness of the approach.","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123492137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Multi-Spacecraft Attitude Path Planning Using Consensus with LMI-Based Exclusion Constraints 基于lmi排除约束的多航天器姿态路径规划
Advanced Path Planning for Mobile Entities Pub Date : 2018-09-26 DOI: 10.5772/INTECHOPEN.71580
I. Okoloko
{"title":"Multi-Spacecraft Attitude Path Planning Using Consensus with LMI-Based Exclusion Constraints","authors":"I. Okoloko","doi":"10.5772/INTECHOPEN.71580","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.71580","url":null,"abstract":"Space missions involving multi-vehicle teams require the cooperative navigation and attitude slewing of the spacecraft or satellites, for such purposes as interferometry and optimal sensor coverage. This introduces extra constraints of exclusion zones between the spacecraft, in addition to the default exclusion constraints already introduced by damaging or blinding celestial objects. In this work, we present a quaternion-based attitude consensus protocol by using the communication topology of the spacecraft team. By using the Laplacian matrix of their communication graph and a semidefinite program, a synthesis of a time-varying optimal stochastic matrix P is done, which is used to generate various consensus and cooperative attitude trajectories from the initial attitudes of the spacecraft. The concept of quaternion-based quadratically constrained attitude control is then employed to satisfy cone avoidance constraints, where exclusion zones are identified, expressed as linear matrix inequalities (LMI), and solved by semidefinite programming (SDP).","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129098763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Consensus-Based Multipath Planning with Collision Avoidance Using Linear Matrix Inequalities 基于共识的线性矩阵避碰多路径规划
Advanced Path Planning for Mobile Entities Pub Date : 2018-03-29 DOI: 10.5772/INTECHOPEN.71288
I. Okoloko
{"title":"Consensus-Based Multipath Planning with Collision Avoidance Using Linear Matrix Inequalities","authors":"I. Okoloko","doi":"10.5772/INTECHOPEN.71288","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.71288","url":null,"abstract":"Consensus theory has been widely applied to collective motion planning related to coordinated motion. However, when the collective motion is highly irregular and adversarial, the basic consensus theory does not guarantee collision avoidance by default. As collision avoidance is a central problem of path planning, the incorporation of avoidance into the consensus algorithm is a subject of research. This work presents a new method of incorporating collision avoidance into the consensus algorithm, by applying the concept of constrained orientation control, where orientation constraints are represented as a set of linear matrix inequalities (LMI) and solved by semidefinite programming (SDP). The developed algorithm is used to simulate consensus-based multipath plan- ning with collision avoidance for a team of communicating soccer robots. vehicles, collision avoidance and fast convergence are guaranteed. Future work will include implementation on a team of mobile robots and autonomous aerial vehicles.","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"109 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130631420","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Path Planning Based on Parametric Curves 基于参数化曲线的路径规划
Advanced Path Planning for Mobile Entities Pub Date : 2017-12-27 DOI: 10.5772/INTECHOPEN.72574
Lucía Hilario Pérez, Marta Covadonga Mora Aguilar, Nicolás MontésSánchez, A. Montesinos
{"title":"Path Planning Based on Parametric Curves","authors":"Lucía Hilario Pérez, Marta Covadonga Mora Aguilar, Nicolás MontésSánchez, A. Montesinos","doi":"10.5772/INTECHOPEN.72574","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.72574","url":null,"abstract":"Parametric curves are extensively used in engineering. The most commonly used parametric curves are, Bézier, B-splines, (NURBSs), and rational Bézier. Each and every one of them has special features, being the main difference between them the complexity of their mathematical definition. While Bézier curves are the simplest ones, B-splines or NURBSs are more complex. In mobile robotics, two main problems have been addressed with parametric curves. The first one is the definition of an initial trajectory for a mobile robot from a start location to a goal. The path has to be a continuous curve, smooth and easy to manipulate, and the properties of the parametric curves meet these requirements. The second one is the modification of the initial trajectory in real time attending to the dynamic properties of the environment. Parametric curves are capable of enhancing the trajectories produced by path planning algorithms adapting them to the kinematic properties of the robot. In order to avoid obstacles, the shape modification of parametric curves is required. In this chapter, an algorithm is proposed for computing an initial Bézier trajectory of a mobile robot and subsequently modifies it in real time in order to avoid obstacles in a dynamic environment.","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126702722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Path Planning in Rough Terrain Using Neural Network Memory 基于神经网络记忆的崎岖地形路径规划
Advanced Path Planning for Mobile Entities Pub Date : 2017-12-20 DOI: 10.5772/INTECHOPEN.71486
N. Arana-Daniel, R. Valencia-Murillo, A. Alanis, Carlos Villaseñor, C. López-Franco
{"title":"Path Planning in Rough Terrain Using Neural Network Memory","authors":"N. Arana-Daniel, R. Valencia-Murillo, A. Alanis, Carlos Villaseñor, C. López-Franco","doi":"10.5772/INTECHOPEN.71486","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.71486","url":null,"abstract":"Learning navigation policies in an unstructured terrain is a complex task. The Learning to Search (LEARCH) algorithm constructs cost functions that map environmental features to a certain cost for traversing a patch of terrain. These features are abstractions of the environment, in which trees, vegetation, slopes, water and rocks can be found, and the traversal costs are scalar values that represent the difficulty for a robot to cross given the patches of terrain. However, LEARCH tends to forget knowledge after new policies are learned. The study demonstrates that reinforcement learning and long-short- term memory (LSTM) neural networks can be used to provide a memory for LEARCH. Further, they allow the navigation agent to recognize hidden states of the state space it navigates. This new approach allows the knowledge learned in the previous training to be used to navigate new environments and, also, for retraining. Herein, navigation episodes are designed to confirm the memory, learning policy and hidden-state recogni-tion capabilities, acquired by the navigation agent through the use of LSTM.","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132387806","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Path Planning on Quadric Surfaces and Its Application 二次曲面的路径规划及其应用
Advanced Path Planning for Mobile Entities Pub Date : 2017-12-20 DOI: 10.5772/INTECHOPEN.72573
Chi-Chia Sun, G. Jan, Chaomin Lu, Kai-Chieh Yang
{"title":"Path Planning on Quadric Surfaces and Its Application","authors":"Chi-Chia Sun, G. Jan, Chaomin Lu, Kai-Chieh Yang","doi":"10.5772/INTECHOPEN.72573","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.72573","url":null,"abstract":"In this chapter, recent near-shortest path-planning algorithms with O ( n log n ) in the quadric plane based on the Delaunay triangulation, Ahuja-Dijkstra algorithm, and ridge points are reviewed. The shortest path planning in the general three-dimensional situa- tion is an NP-hard problem. The optimal solution can be approached under the assump-tion that the number of Steiner points is infinite. The state-the-art method has at most 2.81% difference on the shortest path length, but the computation time is 4216 times faster. Compared to the other O ( n log n ) time near-shortest path approach (Kanai and Suzuki, KS’s algorithm), the path length of the Delaunay triangulation method is 0.28% longer than the KS’s algorithm with three Steiner points, but the computation is about 31.71 times faster. This, however, has only a few path length differences, which promises a good result, but the best computing time. Notably, these methods based on Delaunay triangulation concept are ideal for being extended to solve the path-planning problem on the Quadric surface or even the cruise missile mission planning and Mars rover.","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133892417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Search-Based Planning and Replanning in Robotics and Autonomous Systems 机器人与自主系统中基于搜索的规划与再规划
Advanced Path Planning for Mobile Entities Pub Date : 2017-12-20 DOI: 10.5772/INTECHOPEN.71663
An T. Le, Than D. Le
{"title":"Search-Based Planning and Replanning in Robotics and Autonomous Systems","authors":"An T. Le, Than D. Le","doi":"10.5772/INTECHOPEN.71663","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.71663","url":null,"abstract":"In this chapter, we present one of the most crucial branches in motion planning: search- based planning and replanning algorithms. This research branch involves two key points: first, representing traverse environment information as discrete graph form, in particular, occupancy grid cost map at arbitrary resolution, and, second, path planning algorithms calculate paths on these graphs from start to goal by propagating cost associ- ated with each vertex in graph. The chapter will guide researcher through the foundation of motion planning concept, the history of search-based path planning and then focus on the evolution of state-of-the-art incremental, heuristic, anytime algorithm families that are currently applied on practical robot rover. The comparison experiment between algo- rithm families is demonstrated in terms of performance and optimality. The future of search-based path planning and motion planning in general is also discussed.","PeriodicalId":216895,"journal":{"name":"Advanced Path Planning for Mobile Entities","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129548492","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
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