scholarly journals On-line Motion Planning of an Autonomous Mobile Robot to Avoid Multiple Moving Obstacles Based on the Prediction of Their Future Trajectories.

1997 ◽  
Vol 15 (2) ◽  
pp. 249-260 ◽  
Author(s):  
Akira Inoue ◽  
Kenji Inoue ◽  
Yoshikuni Okawa
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Autonomous Mobile Robot ◽  
Moving Obstacles ◽  
On Line

A New Cockroach Swarm Optimization for Motion Planning of Mobile Robot

2012 ◽  
Vol 263-266 ◽  
pp. 834-838
Author(s):  
Wanhui Liu ◽  
Le Cheng
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Euclidean Distance ◽  
Optimal Path ◽  
Autonomous Mobile Robot ◽  
Weight Factor ◽  
Simulation Experiments ◽  
Swarm Optimization ◽  
Heuristic Information

In this paper, an improved cockroach swarm optimization, called cockroach swarm optimization with expansion gird (CSO-EG), is presented and applied to motion planning of autonomous mobile robot. In CSO-EG, the expansion gird method is used to model workspace. By computing the weight factor, the Euclidean distance from each candidate to the destination cell and the pheromone strength of each candidate cell are use as the heuristic information together. For increasing the variety of path, a random choosing cell strategy is introduced. The simulation experiments demonstrate that the CSO-EG algorithm can quickly get the optimal or near-optimal path in a workspace populated with obstacles.

AN INTEGERATED NAVIGATION SYSTEM FOR AUTONOMOUS MOBILE ROBOT IN DYNAMIC ENVIROMENTS

2020 ◽  
pp. 32-46
Author(s):  
Nguyen Lan Anh
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Navigation System ◽  
Tracking System ◽  
Dynamic Environment ◽  
Planning System ◽  
Autonomous Mobile Robot ◽  
Integrated Navigation ◽  
Elastic Band ◽  
Integrated Navigation System

To enable an autonomous mobile robot to navigate safely in a dy- namic environment, the mobile robot must address four typical functional blocks of the navigation system including perception, localization, motion planning, and motor control. In this study, we present an integrated navigation system for the autonomous mobile robot in the dynamic environment by incorporating the techniques proposed in our previous studies, including object detection and tracking system, localization system and motion planning system, into a completed navigation system. In addition, we propose an extended timed elastic band (ETEB) technique for online trajectory planning, which allows the mobile robot to proactively avoid obstacles in the surrounding environment. We validate the effectiveness of the proposed model through a series of experiments in both simulated and real-world environments. The experimental results show that our proposed motion model is capable of driving the mobile robots to proactively avoid dynamic obstacles, providing safe navigation for the robots.

Development of Autonomous Mobile Robot for Obstacle Avoidance

1993 ◽  
Vol 5 (5) ◽  
pp. 481-486 ◽  
Author(s):  
Masafumi Uchida ◽  
◽  
Syuichi Yokoyama ◽  
Hideto Ide ◽  
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Potential Method ◽  
Working Environment ◽  
Planning Problem ◽  
Autonomous Mobile Robot ◽  
The Real

The potential method is superior for solving the problem of motion planning; however, it must address the problem of the real-time generation of potential field. Obstacle avoidance is a motion planning problem. In a previous study, we investigated the real-time generation of potential field. Based on parallel processing with element group, we proposed the system by Sensory Point Moving (SPM) method. As a result of computer simulation, it was confirmed that the SPM method is effective for generating an obstacle avoidance path in 2-D and a more complex working environment like a 3-D one. In this paper, we discuss the development of autonomous mobile robot for obstacle avoidance based on the SPM method.

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