An indoor path planning and motion planning method based on POMDP

2017 ◽  
Author(s):  
Wenjie Dong ◽  
Xiaozhi Qi ◽  
Zhixian Chen ◽  
Chao Song ◽  
Xiaojun Yang
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Planning Method

scholarly journals A new optimization-driven path planning method with probabilistic completeness for wheeled mobile robots

2019 ◽  
Vol 52 (5-6) ◽  
pp. 317-325 ◽  
Author(s):  
Bo You ◽  
Zhi Li ◽  
Liang Ding ◽  
Haibo Gao ◽  
Jiazhong Xu
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Mobile Robots ◽  
Energy Efficient ◽  
Planning Process ◽  
Planning Method ◽  
Projection Algorithm ◽  
Wheeled Mobile Robots ◽  
Active Set ◽  
Weak Minima

Wheeled mobile robots are widely utilized for environment-exploring tasks both on earth and in space. As a basis for global path planning tasks for wheeled mobile robots, in this study we propose a method for establishing an energy-based cost map. Then, we utilize an improved dual covariant Hamiltonian optimization for motion planning method, to perform point-to-region path planning in energy-based maps. The method is capable of efficiently handling high-dimensional path planning tasks with non-convex cost functions through applying a robust active set algorithm, that is, non-monotone gradient projection algorithm. To solve the problem that the path planning process is locked in weak minima or non-convergence, we propose a randomized variant of the improved dual covariant Hamiltonian optimization for motion planning based on simulated annealing and Hamiltonian Monte Carlo methods. The results of simulations demonstrate that the final paths generated can be time efficient, energy efficient and smooth. And the probabilistic completeness of the method is guaranteed.

Autonomous Path Planning of Space Manipulator for Capturing a Target Using Visual Information

2016 ◽  
Author(s):  
Yingzi Guan ◽  
Chunlin Song ◽  
Huijuan Dong
Keyword(s):  
Environmental Factors ◽  
Path Planning ◽  
Motion Planning ◽  
Visual Information ◽  
Planning Method ◽  
Moving Target ◽  
Camera System ◽  
Space Manipulator ◽  
Stereo Camera

In this work, we present a fast and reliable motion planning method for a free-floating manipulator considering various complex environmental factors. The proposed method employs a stereo camera system and hand-eye camera as sensors to measure position of a moving target. Simulation carried out in this work demonstrated the proposed method.

ADD-RRV for motion planning in complex environments

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Peng Cai ◽  
Xiaokui Yue ◽  
Hongwen Zhang
Keyword(s):  
Principal Component Analysis ◽  
Motion Planning ◽  
Configuration Space ◽  
Principal Component ◽  
Component Analysis ◽  
Planning Method ◽  
Complex Environments ◽  
Local Configuration ◽  
Narrow Passage

Abstract In this paper, we present a novel sampling-based motion planning method in various complex environments, especially with narrow passages. We use online the results of the planner in the ADD-RRT framework to identify the types of the local configuration space based on the principal component analysis (PCA). The identification result is then used to accelerate the expansion similar to RRV around obstacles and through narrow passages. We also propose a modified bridge test to identify the entrance of a narrow passage and boost samples inside it. We have compared our method with known motion planners in several scenarios through simulations. Our method shows the best performance across all the tested planners in the tested scenarios.

scholarly journals Path Planning Method With Improved Artificial Potential Field—A Reinforcement Learning Perspective

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 135513-135523
Author(s):  
Qingfeng Yao ◽  
Zeyu Zheng ◽  
Liang Qi ◽  
Haitao Yuan ◽  
Xiwang Guo ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Potential Field ◽  
Planning Method ◽  
Artificial Potential Field
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