A New Global Path Planning Strategy for Mobile Robots Using Hierarchical Topology Map and Safety-Aware Navigation Speed

Han, Jeong-woo; Jeon, Soo; Kwon, Hyock-Ju

doi:10.1109/aim.2019.8868423

Cited by 6 publications

(1 citation statement)

References 16 publications

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“…This exploration method is probably not applicable for RDW steering techniques, since the steering algorithms heavily rely on spatial information such as the current user's position. More recently, a hierarchical topology was used for path planning of a robot, which was then combined with a pedestrian model to achieve a safe motion (Han, 2022).…”

Section: Exploration In Roboticsmentioning

confidence: 99%

Redirected walking for exploration of unknown environments

Lutfallah,

Ketzel,

Kunz

2024

Front. Virtual Real.

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Real walking is the most natural locomotion method for exploring Virtual Environments (VE), enhancing the immersion of Virtual Reality (VR). Redirected Walking (RDW) is employed to enable real walking within limited tracking spaces in large VEs by subtly manipulating the mapping between the virtual and real environments. However, the effectiveness of RDW is greatly influenced by the convex shape and size of the manually defined physical tracking space, subsequently impacting the user’s immersive experience. To improve performance, one strategy is to integrate exploration methods from mobile robotics with RDW. This will expand the usable tracking space, facilitating dynamic environments and rapid exploration. For this, we adapted a Unity framework for an RDW algorithm to facilitate simulations for such an exploration. We conducted a simulation with artificially created non-convex explorable tracking spaces and pre-recorded path elements, simulating two adapted RDW artificial potential field (APF) concepts. Three conceptualized modes were applied: repulsive APF, exploration APF, and exploration APF with a distance threshold. Additionally, one APF was extended with a frontier-based exploration approach that utilized the path between the user’s position and a targeted frontier. The analysis revealed a significant trade-off between exploration and immersion. APF combined with frontier-based the exploration technique showed the fastest exploration speed, but - however - resulted in the lowest distance between resets.

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Section: Exploration In Roboticsmentioning

confidence: 99%