scholarly journals HCTNav: A Path Planning Algorithm for Low-Cost Autonomous Robot Navigation in Indoor Environments

2013 ◽  
Vol 2 (3) ◽  
pp. 729-748 ◽  
Author(s):  
Marco Pala ◽  
Nafiseh Eraghi ◽  
Fernando López-Colino ◽  
Alberto Sanchez ◽  
Angel de Castro ◽  
...  
Keyword(s):  
Path Planning ◽  
Robot Navigation ◽  
Low Cost ◽  
Autonomous Robot ◽  
Indoor Environments ◽  
Planning Algorithm ◽  
Autonomous Robot Navigation ◽  
Path Planning Algorithm

scholarly journals Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 642
Author(s):  
Luis Miguel González de Santos ◽  
Ernesto Frías Nores ◽  
Joaquín Martínez Sánchez ◽  
Higinio González Jorge
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Execution Time ◽  
Point Cloud ◽  
Indoor Environments ◽  
Calculation Algorithm ◽  
Time Restrictions ◽  
Planning Algorithm ◽  
Inspection Tasks ◽  
Path Planning Algorithm

Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation.

scholarly journals Environment Mapping Robot Using Supersonic Sensor

1999 ◽  
Vol 11 (6) ◽  
pp. 468-472
Author(s):  
Masafumi Uchida ◽  
◽  
Tanaka Hisaya ◽  
Hideto Ide ◽  
Keyword(s):  
Computer Simulation ◽  
Path Planning ◽  
Autonomous Robot ◽  
Working Environment ◽  
Occupancy Grid ◽  
Environment Map ◽  
Planning Algorithm ◽  
And Performance ◽  
Path Planning Algorithm ◽  
Range Sensors

We studied an automapping algorithm for an autonomous robot having ultrasonic range sensors. A robot with a working environment map operates smoothly. The robot consisted of an automapping algorithm using ultrasonic range sensors and a path planning algorithm. Ultrasonic range sensors are basic, inexpensive, and compact. We proposed an automapping algorithm introducing a parameter, valid length, for a robot with ultrasonic range sensors. The map was based on an occupancy grid. Computer simulation confirmed the effectiveness of introducing valid length in mapping by an autonomous robot. We discuss proposed distinctions and performance.

A fast constructive path planning algorithm for mobile robot navigation

2021 ◽  
Author(s):  
Abderraouf Maoudj ◽  
Abdelfetah Hentout ◽  
Anders Lyhne Christensen ◽  
Ahmed Kouider
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Planning Algorithm ◽  
Path Planning Algorithm
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