Evaluation of a Local Path-planning Algorithm for a Hospital Located Autonomous Mobile Robot

2012 ◽  
Author(s):  
C. McGinn ◽  
K. Kelly ◽  
O. Brogan ◽  
A. Sena
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
Local Path Planning ◽  
Planning Algorithm ◽  
Local Path ◽  
Path Planning Algorithm

scholarly journals Efficient Local Path Planning Algorithm Using Artificial Potential Field Supported by Augmented Reality

Energies ◽  
2021 ◽  
Vol 14 (20) ◽  
pp. 6642
Author(s):  
Rafal Szczepanski ◽  
Artur Bereit ◽  
Tomasz Tarczewski
Keyword(s):  
Augmented Reality ◽  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
Local Minimum ◽  
Artificial Potential Field ◽  
Local Path Planning ◽  
Planning Algorithm ◽  
Local Path ◽  
Path Planning Algorithm

Mobile robots in industry are commonly used in warehouses and factories. To achieve the highest production rate, requirements for path planning algorithms have caused researchers to pay significant attention to this problem. The Artificial Potential Field algorithm, which is a local path planning algorithm, has been previously modified to obtain higher smoothness of path, to solve the stagnation problem and to jump off the local minimum. The last itemized problem is taken into account in this paper—local minimum avoidance. Most of the modifications of Artificial Potential Field algorithms focus on a mechanism to jump off a local minimum when robots stagnate. From the efficiency point of view, the mobile robot should bypass the local minimum instead of jumping off it. This paper proposes a novel Artificial Potential Field supported by augmented reality to bypass the upcoming local minimum. The algorithm predicts the upcoming local minimum, and then the mobile robot’s perception is augmented to bypass it. The proposed method allows the generation of shorter paths compared with jumping-off techniques, due to lack of stagnation in a local minimum. This method was experimentally verified using a Husarion ROSbot 2.0 PRO mobile robot and Robot Operating System in a laboratory environment.

A smooth local path planning algorithm based on modified visibility graph

2017 ◽  
Vol 31 (19-21) ◽  
pp. 1740091 ◽  
Author(s):  
Taizhi Lv ◽  
Maoyan Feng
Keyword(s):  
Path Planning ◽  
Simulation Experiment ◽  
Visibility Graph ◽  
Local Path Planning ◽  
Spline Curves ◽  
Smooth Path ◽  
Planning Algorithm ◽  
Path Search ◽  
Local Path ◽  
Path Planning Algorithm

Path planning is an essential and inevitable problem in robotics. Trapping in local minima and discontinuities often exist in local path planning. To overcome these drawbacks, this paper presents a smooth path planning algorithm based on modified visibility graph. This algorithm consists of three steps: (1) polygons are generated from detected obstacles; (2) a collision-free path is found by simultaneous visibility graph construction and path search by A[Formula: see text] (SVGA); (3) the path is smoothed by B-spline curves and particle swarm optimization (PSO). Simulation experiment results show the effectiveness of this algorithm, and a smooth path can be found fleetly.

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