Bi-RRT path extraction and curve fitting smooth with visual based configuration space mapping

Dönmez, Emrah; Kocamaz, Adnan Fatih; Dirik, Mahmut

doi:10.1109/idap.2017.8090214

Cited by 18 publications

(8 citation statements)

References 14 publications

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“…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

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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.

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Section: Sampling-based Path Planningmentioning

confidence: 99%

Path planning for autonomous bulldozers

et al. 2019

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“…Each method has the purpose of finding a reliable and cost-effective technique. RRT [30] is a path planning method which is widely used in robotic studies. It aims to achieve an unobstructed path between the start and destination positions in an unknown environment.…”

Section: Literature Reviewmentioning

confidence: 99%

Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Dirik

Castillo

Kocamaz

2019

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Mobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties. In an uncertain working area, a method should be selected to address the existing uncertainties in order to plan a collision-free path between the desired two points. In this paper, we propose a mobile robot path planning method in the visualize plane using an overhead camera based on interval type-2 fuzzy logic (IT2FIS). We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot. To reach the target and for avoiding obstacles efficiently under different shapes of obstacle in an environment, an IT2FIS is designed to generate a path. A simulation of the path planning technique compared with other methods is performed. We tested the algorithm within various scenarios. Experiment results showed the efficiency of the generated path using an overhead camera for a mobile robot.

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“…Aiming at high computational efficiency and short convergence time of the path planning, a random sampling algorithm by combining RRT algorithm and artificial potential field, named as RRT-APF, 18,19 is proposed. Compared to the RRT algorithm, Bi-RRT algorithm (RRT algorithm based bi-directional growth of random trees) [20][21][22] can have the advantages of fast growth speed of path tree. Combining the advantages of different algorithms, an integrated BiRRT-APF algorithm is proposed in this work to cope with the above issues.…”

Section: Introductionmentioning

confidence: 99%

Path planning of a 5-dof robotic arm based on BiRRT-APF algorithm considering obstacle avoidance

Zhang

Cui

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In robotic applications, an efficient path planning in a prescribed environment is the central issue, which is a challenging task for multiple degree-of-freedom articulated robotic arms. In this light, the path planning for robotic manipulators based on the combined artificial potential field method and bidirectional rapidly exploring random tree (BiRRT-APF) algorithm is proposed in this paper, aiming to handle the problems of highly possible randomness and low search efficiency. In order to improve the attraction function to speed up the efficiency of searching path, the characteristics of the Bi-RRT algorithm (i.e., bi-directional growth of random trees), is integrated to reduce the search time. Subsequently, a path construction strategy is proposed to remove the redundant nodes of the path, for the increased smoothness of the path and reduced memory storages of the algorithm. The effectiveness of the proposed path planning algorithm is illustrated with a 5-dof robotic arm, and is verified with MATLABTM and CoppeliaSimTM co-simulation, through a comparative study among different algorithms. The results show that the proposed BiRRT-APF algorithm can decrease the randomness of node growth and reduce the number of algorithm iterations, resulting in faster convergence of a smooth path for reduced computational burden.

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Bi-RRT path extraction and curve fitting smooth with visual based configuration space mapping

Cited by 18 publications

References 14 publications

Path planning for autonomous bulldozers

Path planning for autonomous bulldozers

Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Path planning of a 5-dof robotic arm based on BiRRT-APF algorithm considering obstacle avoidance

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