Solving path planning problem based on logistic beetle algorithm search–pigeon-inspired optimisation algorithm

Abstract Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

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Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

20th Design Automation Conference: Volume 1 — Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering ◽

10.1115/detc1994-0041 ◽

1994 ◽

Author(s):

Duane W. Storti ◽

Debasish Dutta

Keyword(s):

Path Planning ◽

Free Path ◽

Configuration Space ◽

Local Knowledge ◽

Three Dimensional ◽

Target Point ◽

Planning Problem ◽

Spherical Object ◽

Starting Point ◽

Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

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ON THE PATH PLANNING PROBLEM IN THE VICINITY OF OBSTACLES

Cybernetics & Systems ◽

10.1080/019697298125416 ◽

1998 ◽

Vol 29 (8) ◽

pp. 807-868 ◽

Cited By ~ 3

Author(s):

ALBERT Y. ZOMAYA MATT R. WRIGHT TAR

Keyword(s):

Path Planning ◽

Planning Problem ◽

Path Planning Problem

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Experimental study of path planning problem using EMCOA for a holonomic mobile robot

Journal of Systems Engineering and Electronics ◽

10.23919/jsee.2021.000123 ◽

2021 ◽

Vol 32 (6) ◽

pp. 1450-1462

Author(s):

Mohseni Alireza ◽

Duchaine Vincent ◽

Wong Tony

Keyword(s):

Experimental Study ◽

Path Planning ◽

Mobile Robot ◽

Planning Problem ◽

Holonomic Mobile Robot ◽

Path Planning Problem

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Some Theory and Algorithms Pertaining to Machinability and Visibility

Manufacturing ◽

10.1115/imece2002-33603 ◽

2002 ◽

Author(s):

Mahadevan Balasubramaniam ◽

Taejung Kim ◽

Sanjay Sarma

Keyword(s):

Path Planning ◽

Tool Path ◽

Cutting Tool ◽

Machining Process ◽

Planning Problem ◽

Topological Connectivity ◽

Almost All ◽

Feasible Space ◽

Path Planning Problem ◽

Theoretical Results

In previous work, we and others have developed visibility-based tool path generation schemes. Almost all previous research implicitly assumes that all visible parts are machinable. Though usually true practice, this assumption hides several subtleties inherent to the geometry of the machining process. Here, we define machinability in a stricter sense, as a generalization of the robotic path planning problem. Then, we define various “tight” necessary conditions for strict machinability, and show the connections between these conditions. After demonstrating the richness of the information contained in visibility, we show how to compute visibility effectively. Visible directions constitute an approximate feasible configuration space of a cutting tool. We also address questions pertaining to the topological connectivity of the feasible space. The theoretical results of this paper lay down a firmer foundation of machining path planning.

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Three Dimensional Robot Path Planning With Workspace Considerations

18th Design Automation Conference: Volume 2 — Geometric Modeling, Mechanisms, and Mechanical Systems Analysis ◽

10.1115/detc1992-0177 ◽

1992 ◽

Author(s):

C. Y. Liu ◽

R. W. Mayne

Keyword(s):

Path Planning ◽

Three Dimensional ◽

Optimization Methods ◽

Planning Problem ◽

Robot Path Planning ◽

Recursive Quadratic Programming ◽

Six Degree Of Freedom ◽

Nonlinear Programming Method ◽

Path Planning Problem ◽

Robot Path

Abstract This paper considers the problem of robot path planning by optimization methods. It focuses on the use of recursive quadratic programming (RQP) for the optimization process and presents a formulation of the three dimensional path planning problem developed for compatibility with the RQP selling. An approach 10 distance-to-contact and interference calculations appropriate for RQP is described as well as a strategy for gradient computations which are critical to applying any efficient nonlinear programming method. Symbolic computation has been used for general six degree-of-freedom transformations of the robot links and to provide analytical derivative expressions. Example problems in path planning are presented for a simple 3-D robot. One example includes adjustments in geometry and introduces the concept of integrating 3-D path planning with geometric design.

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