Path planning for underwater docking based on Modified Artificial Potential Field

Cui, Peng; Yan, Weisheng; Guo, Xinxin

doi:10.1109/icarm.2016.7606949

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2019

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“…The APF method is designed to attract the robot to the desired goal configuration and repel it from obstacles, which is due to the readings from the sensors, as shown in refs. [19][20][21]. Contrary to the RRT, the APF is fast enough to be applied on board of mobile robots in real time.…”

Section: Path Plannersmentioning

confidence: 99%

Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Coelho¹,

Pinto²,

Souza³

et al. 2019

Robotica

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SUMMARYIn recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.

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Section: Path Plannersmentioning

confidence: 99%