Global path planning with obstacle avoidance for omnidirectional mobile robot using overhead camera

Ziaei, Zahra; Oftadeh, Reza; Mattila, Jouni

doi:10.1109/icma.2014.6885782

Cited by 19 publications

(14 citation statements)

References 15 publications

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“…This algorithm is completed using two trees that start to separate from both the starting and the target positions. Visual-servoing (VS) methods have been widely used in various path planning applications [32][33][34][35][36][37] and use an image sensor in a feedback loop for trajectory control. Global path planning provides a global map in which the robot initial position, goal point, and obstacle positions are determined.…”

Section: Literature Reviewmentioning

confidence: 99%

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

Dirik

Castillo

Kocamaz

2019

Axioms

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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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Section: Literature Reviewmentioning

confidence: 99%

“…The proposed algorithm is assured of a reliable and feasible path that is visible to the camera. Traditional sensing techniques such as infrared detectors, laser scanners, and ultrasonic sensors are used to detect obstacles [35]. Due to systematic and non-systematic errors, these sensors do not always give the correct result.…”

Section: Literature Reviewmentioning

confidence: 99%

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

Dirik

Castillo

Kocamaz

2019

Axioms

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“…Recall that the robot's immobility is a high-severity failure. For the purpose of simplification, we assume that the robot has only two types of steering: crab steering and spin around to keep the detection [36], planning [37], kinematics, and control [26] simpler than contemporary solutions.…”

Section: Crab Steeringmentioning

confidence: 99%

Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities

Aref

Oftadeh

Ghabcheloo

et al. 2015

International Journal of Advanced Robotic Systems

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This paper describes one of the challenging issues implied by scientific infrastructures on a mobile robot cognition architecture. For a generally applicable cognition architecture, we study the dependencies and logical relations between several tasks and subsystems. The overall view of the software modules is described, including their relationship with a fault management module that monitors the consistency of the data flow among the modules. The fault management module is the solution of the deliberative architecture for the single point failures, and the safety anchor is the reactive solution for the faults by redundant equipment. In addition, a hardware architecture is proposed to ensure safe robot movement as a redundancy for the cognition of the robot. The method is designed for a four-wheel steerable (4WS) mobile manipulator (iMoro) as a case study.

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“…Most mobile ground robots use either driving locomotion or stepping locomotion, and there exist path planning methods for both such locomotion modes independently [1][2][3][4][5][6][7]. Our mobile manipulation robot Momaro [8] (see Fig.…”

Section: Introductionmentioning

confidence: 99%

Anytime hybrid driving-stepping locomotion planning

Klamt¹,

Behnke²

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Hybrid driving-stepping locomotion is an effective approach for navigating in a variety of environments. Long, sufficiently even distances can be quickly covered by driving while obstacles can be overcome by stepping. Our quadruped robot Momaro, with steerable pairs of wheels located at the end of each of its compliant legs, allows such locomotion. Planning respective paths attracted only little attention so far.We propose a navigation planning method which generates hybrid locomotion paths. The planner chooses driving mode whenever possible and takes into account the detailed robot footprint. If steps are required, the planner includes those. To accelerate planning, steps are planned first as abstract manoeuvres and are expanded afterwards into detailed motion sequences. Our method ensures at all times that the robot stays stable. Experiments show that the proposed planner is capable of providing paths in feasible time, even for challenging terrain.

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Global path planning with obstacle avoidance for omnidirectional mobile robot using overhead camera

Cited by 19 publications

References 15 publications

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

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

Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities

Anytime hybrid driving-stepping locomotion planning

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