Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot

2015 ◽  
Vol 27 (3) ◽  
pp. 286-292 ◽  
Author(s):  
Kentaro Ueno ◽  
◽  
Tetsuo Kinoshita ◽  
Kazuyuki Kobayashi ◽  
Kajiro Watanabe
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
Safe Navigation ◽  
Assignment Method ◽  
Dynamic Path Planning ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Path Switching ◽  
Path Planning Algorithm

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/08.jpg"" width=""340"" /> Proposed path-planning result</div> In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.

Dynamic Path Planning Algorithm Based on Chaos Genetic Vehicle Navigation

2011 ◽  
Vol 142 ◽  
pp. 12-15
Author(s):  
Ping Feng
Keyword(s):  
Path Planning ◽  
Search Algorithm ◽  
Traffic Condition ◽  
Planning Time ◽  
Dynamic Path Planning ◽  
Short Period ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Path Planning Algorithm ◽  
Chaos Genetic Algorithm

The paper puts forward the dynamic path planning algorithm based on improving chaos genetic algorithm by using genetic algorithms and chaos search algorithm. In the practice of navigation, the algorithm can compute at the best path to meet the needs of the navigation in such a short period of planning time. Furthermore,this algorithm can replan a optimum path of the rest paths after the traffic condition in the sudden.

Adaptive Dynamic Path Planning Algorithm for Interception of a Moving Target

2013 ◽  
Vol 5 (3) ◽  
pp. 19-33
Author(s):  
H. H. Triharminto ◽  
A.S. Prabuwono ◽  
T. B. Adji ◽  
N. A. Setiawan
Keyword(s):  
Path Planning ◽  
Dynamic Condition ◽  
Cylindrical Shape ◽  
Moving Target ◽  
C Language ◽  
Dynamic Path Planning ◽  
Planning Algorithm ◽  
Aerial Vehicle ◽  
Dynamic Path ◽  
Path Planning Algorithm

Most of the 3D curve path planning is used to build static path planning. For intercepting of a moving target, the path planning has to be set in a dynamic condition. L+Dumo algorithm which is based on curve is used to intercept a moving target. In the real situations, the Unmanned Aerial Vehicle (UAV) has possibility to intercept a moving target from all direction. It is assumed that environment of the UAV is in 3D Euclidean Space. It means that the UAV has to adapt for all quadrants for interception of a moving target. This research develops a path planning algorithm which enhances the previous L+Dumo algorithm to encounter the possibility quadrants. The enhancement would be simulated in C++ language to determine the accuracy of the algorithm. The simulation is conducted using one UAV and one moving target with random obstacles of cylindrical shape in between both objects. The result shows that the system accuracy is 81.0876%, a level which is able to encounter all possibility quadrants.

Sign in / Sign up

Export Citation Format

Share Document