Implementation of Dubin Curves-Based RRT* Using an Aerial Image for the Determination of Obstacles and Path Planning to Avoid Them During Displacement of the Mobile Robot

Tenezaca, B. Daniel; Canchignia, Christian; Aguilar, Wilbert G.; Mendoza, Dario

doi:10.1007/978-981-13-9155-2_17

Cited by 4 publications

(3 citation statements)

References 13 publications

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“…But existing approaches for the Dubins case can be carried over to the generalized case without much difficulty in view of the similarity between Dubins curve and its high order generalization. For example, many literatures have combined RRT (rapidly-exploring random tree) and Dubins curve to solve the path planning problem of mobile robot in the presence of obstacles, for example, previous studies [26,27]. In this algorithm, the structure of the tree is determined by the RRT* algorithm, whereas each branch of the tree is (part of) a Dubins curve.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Motion planning for a high order Dubins vehicle

Liu

Zhang

2022

Asian Journal of Control

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In this paper, we focus on the motion planning problem (MPP) of a generalized Dubins vehicle (GDV) with higher order dynamics, aiming at mitigating the drawbacks caused by the lack of smoothness of the Dubins curves. In the two‐dimensional case, the MPP is converted, by exploiting the Pontryagin maximum principle, into the problem of solving a set of algebraic equations (AEs). The solution of the set of AEs, which can also be applied to the MPP of chained‐form and flat systems, is found by systematically using the concept of elementary symmetric polynomial. Furthermore, in extending our results to the three‐dimensional case, the explicit expression of a new class of space curves is obtained using the Frenet frame. Simulation results show the superiority of the curves generated by the GDV over that generated by the conventional Dubins vehicle.

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Section: Simulation Resultsmentioning

confidence: 99%

“…Next, we make the problem harder by removing some symmetries from Equation (26), that is, we are going to solve the set of AEs…”

Section: The Algebraic Equations Arose In the Mppmentioning

confidence: 99%

Motion planning for a high order Dubins vehicle

Liu

Zhang

2022

Asian Journal of Control

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“…In a recent study for unknown environments, an aerial-ground collaborative approach was considered (Zoto et al, 2020). For a similar research problem, navigation of unmanned vehicles using a drone to identify obstacles and execute a global path planner based on rapidly evolving random trees (RRT) using dubin curves was studied (Daniel Tenezaca et al, 2020). A recent research study further proposed a path planning algorithm for partially observed environments based on Task And Motion Planning (TAMP) by using Rapidly exploring Random Graphs (RRGs) and belief space graph methods (Phiquepal et al, 2022).…”

Section: Literature Review About Autonomous Navigation In Forestrymentioning

confidence: 99%

Exploring the feasibility of autonomous forestry operations: Results from the first experimental unmanned machine

La Hera,

Mendoza‐Trejo,

Lindroos

et al. 2024

Journal of Field Robotics

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This article presents a study on the world's first unmanned machine designed for autonomous forestry operations. In response to the challenges associated with traditional forestry operations, we developed a platform equipped with essential hardware components necessary for performing autonomous forwarding tasks. Through the use of computer vision, autonomous navigation, and manipulator control algorithms, the machine is able to pick up logs from the ground and manoeuvre through a range of forest terrains without the need for human intervention. Our initial results demonstrate the potential for safe and efficient autonomous extraction of logs in the cut‐to‐length harvesting process. We achieved a high level of accuracy in our computer vision system, and our autonomous navigation system proved to be highly efficient. This research represents a significant milestone in the field of autonomous outdoor robotics, with far‐reaching implications for the future of forestry operations. By reducing the need for human labor, autonomous machines have the potential to increase productivity and reduce labor costs, while also minimizing the environmental impact of timber harvesting. The success of our study highlights the potential for further development and optimization of autonomous machines in the forestry industry.

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Routing of vehicles by intelligent algorithms in the matter of transporting goods

Raeesi

Hosseinpour

2022

2022 IEEE International Conference on Electrical Engineering, Big Data and Algorithms (EEBDA)

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Implementation of Dubin Curves-Based RRT* Using an Aerial Image for the Determination of Obstacles and Path Planning to Avoid Them During Displacement of the Mobile Robot

Cited by 4 publications

References 13 publications

Motion planning for a high order Dubins vehicle

Motion planning for a high order Dubins vehicle

Exploring the feasibility of autonomous forestry operations: Results from the first experimental unmanned machine

Routing of vehicles by intelligent algorithms in the matter of transporting goods

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