Cubic Bézier Local Path Planner for Non-holonomic Feasible and Comfortable Path Generation

Vailland, Guillaume; Gouranton, Valérie; Babel, Marie

doi:10.1109/icra48506.2021.9560854

Cited by 8 publications

(2 citation statements)

References 37 publications

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“…For SHAPE TEST, thirty types of maps are automatically generated for each number of positive obstacles around the area of interest, varying the shape of the sinkhole. These maps are generated through a point connection script using cubic Bezier curves [ 53 ]. The criteria for autogeneration of the maps are explained in Table 7 .…”

Section: Methodsmentioning

confidence: 99%

RUDE-AL: Roped UGV Deployment Algorithm of an MCDPR for Sinkhole Exploration

Orbea,

Cruz Ulloa,

Del Cerro

et al. 2023

Sensors

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The presence of sinkholes has been widely studied due to their potential risk to infrastructure and to the lives of inhabitants and rescuers in urban disaster areas, which is generally addressed in geotechnics and geophysics. In recent years, robotics has gained importance for the inspection and assessment of areas of potential risk for sinkhole formation, as well as for environmental exploration and post-disaster assistance. From the mobile robotics approach, this paper proposes RUDE-AL (Roped UGV DEployment ALgorithm), a methodology for deploying a Mobile Cable-Driven Parallel Robot (MCDPR) composed of four mobile robots and a cable-driven parallel robot (CDPR) for sinkhole exploration tasks and assistance to potential trapped victims. The deployment of the fleet is organized with node-edge formation during the mission’s first stage, positioning itself around the area of interest and acting as anchors for the subsequent release of the cable robot. One of the relevant issues considered in this work is the selection of target points for mobile robots (anchors) considering the constraints of a roped fleet, avoiding the collision of the cables with positive obstacles through a fitting function that maximizes the area covered of the zone to explore and minimizes the cost of the route distance performed by the fleet using genetic algorithms, generating feasible target routes for each mobile robot with a configurable balance between the parameters of the fitness function. The main results show a robust method whose adjustment function is affected by the number of positive obstacles near the area of interest and the shape characteristics of the sinkhole.

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Section: Methodsmentioning

confidence: 99%

RUDE-AL: Roped UGV Deployment Algorithm of an MCDPR for Sinkhole Exploration

Orbea,

Cruz Ulloa,

Del Cerro

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…To solve the online cooperative path planning problem for multiple quadrotors in unknown dynamic environments, Jia et al [ 147 ] establish the kinematic constraints for quadrotors and propose a spatio-temporal coordination strategy applicable to RRT. In addition, commonly used curve smoothing methods are also introduced into the RRT algorithm, including the Bezier curve-based RRT [ 83 , 107 , 148 ], B spline curve-based RRT [ 37 , 116 , 149 ].…”

Section: Overview Of Rrt-based Algorithm Improvementsmentioning

confidence: 99%