Path Planning Based on Inflated Medial Axis and Probabilistic Roadmap for Duct Environment

Kamil, Ahmad Ridhwan Mohd; Shithil, Shaekh Mohammad; Ismail, Zool Hilmi; Faudzi, Ahmad Athif Mohd

doi:10.1007/978-981-16-8484-5_42

Cited by 3 publications

(1 citation statement)

References 12 publications

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“…Wang et al [ 11 ] proposed an enhanced RRT* algorithm for the path planning of mining trucks. To implement the route planning and gap driving of the pipeline environment and maintain a safe distance, Kamil et al [ 12 ] revised the sampling method of the PRM algorithm. Among some local path planning algorithms, Liang et al [ 13 ] improved the artificial potential field approach to plan the route of the UAV, which solved the problem of the UAV not being able to reach the target site.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Path Planning of Mobile Robot Based on Improved Sparrow Search Algorithm

et al. 2023

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Aiming at the shortcomings of the traditional sparrow search algorithm (SSA) in path planning, such as its high time-consumption, long path length, it being easy to collide with static obstacles and its inability to avoid dynamic obstacles, this paper proposes a new improved SSA based on multi-strategies. Firstly, Cauchy reverse learning was used to initialize the sparrow population to avoid a premature convergence of the algorithm. Secondly, the sine–cosine algorithm was used to update the producers’ position of the sparrow population and balance the global search and local exploration capabilities of the algorithm. Then, a Lévy flight strategy was used to update the scroungers’ position to avoid the algorithm falling into the local optimum. Finally, the improved SSA and dynamic window approach (DWA) were combined to enhance the local obstacle avoidance ability of the algorithm. The proposed novel algorithm is named ISSA-DWA. Compared with the traditional SSA, the path length, path turning times and execution time planned by the ISSA-DWA are reduced by 13.42%, 63.02% and 51.35%, respectively, and the path smoothness is improved by 62.29%. The experimental results show that the ISSA-DWA proposed in this paper can not only solve the shortcomings of the SSA but can also plan a highly smooth path safely and efficiently in the complex dynamic obstacle environment.

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Section: Introductionmentioning

confidence: 99%