An RRT-based navigation approach for mobile robots and automated vehicles

Garrote, Luís; Premebida, Cristiano; Silva, Marco; Nunes, Urbano

doi:10.1109/indin.2014.6945533

Cited by 10 publications

(1 citation statement)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As opposed to exhaustively creating a full-cost function, the idea of this technique is to firstly sample random points regardless of interfering obstacles, then connect only collision free points to construct a map. This technique is typically used for a robotic manipulator [122][123][124][125][126][127], however is still sometimes used for a mobile vehicle [128][129][130][131][132][133][134]. The problem with this technique is that post-processing to smooth the path is required in order for the path to be realistically traversable for the vehicle [135][136][137].…”

Section: Sampling-based Path Planningmentioning

confidence: 99%

Path planning for autonomous bulldozers

et al. 2019

View full text Add to dashboard Cite

With increasing demand and awareness from industries for enhanced safety, higher productivity, and better vehicle utilization, coupled with labour shortage, automating heavy equipment is becoming more and more important. Among the different types of heavy equipment, bulldozers fall into the category of machines that have a very high potential of achieving fully autonomous operation. Focusing on this fact, the aim of this research is to develop an automated path planning system for bulldozers. In general, an autonomous system is composed of terrain mapping, path planning and path-tracking. Existing commercial grade methodologies already solve terrain mapping and path-tracking, however path planning will be a key challenge for bulldozer automation.Conventional path planning algorithms are designed typically using a grid-based map, and are very versatile. However, in reality, a substantial effort is still required when applying to specific industry products. In contrast to this trend, the aim of this work is to develop a path planning algorithm specifically suitable for bulldozers, starting from the phase of theoretical development. The novel path planning methodology was developed by incorporating industry feedback, and has successfully resolved the issues which occurred when attempting to apply the pre-existing path planning methodologies. Results obtained from this newly developed methodology will demonstrate that efficient paths can be created. The methodology presented in this thesis has led to the development of automated path planning for bulldozers. This allows bulldozers to function without the need of an operator, contributing to enhanced safety, increased productivity, and solving the shortage of skilled operators.Declaration relating to disposition of project thesis/dissertation I hereby grant to the University of New South Wales or its agents the right to archive and to make available my thesis or dissertation in whole or in part in the University libraries in all forms of media, now or here after known, subject to the provisions of the Copyright Act 1968. I retain all property rights, such as patent rights. I also retain the right to use in future works (such as articles or books) all or part of this thesis or dissertation.I also authorise University Microfilms to use the 350 word abstract of my thesis in Dissertation Abstracts International (this is applicable to doctoral theses only). …………………………………………………………… Signature ……………………………………..……………… Witness Signature ……….……………………...…….… DateThe University recognises that there may be exceptional circumstances requiring restrictions on copying or conditions on use. Requests for restriction for a period of up to 2 years must be made in writing. Requests for a longer period of restriction may be considered in exceptional circumstances and require the approval of the Dean of Graduate Research.

show abstract