Practical and flexible path planning for car-like mobile robot using maximal-curvature cubic spiral

Liang, Tzu-Chen; Liu, Jing‐Sin; Hung, G. T.; Chang, Yau-Zen

doi:10.1016/j.robot.2005.05.001

Cited by 58 publications

(21 citation statements)

References 11 publications

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“…The actual sequence computed for this example is given by the numbers in the figure. For each sequenced pair of targets (τ i , τ j ), a kinematically feasible path (i.e., satisfying constraints (3) and (6)) is computed via a motion planner for a car-like mobile robot based on cubic spirals [20]. The motion planner accounts for the obstacles that are known to have emerged from the targets τ k : τ k ≺ τ j that have been drilled by the same machine.…”

Section: Hybrid Searchmentioning

confidence: 99%

Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles

Mansouri

Lagriffoul

Pecora

2017

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

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Abstract-We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an applicationindependent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.

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Section: Hybrid Searchmentioning

confidence: 99%

Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles

Mansouri

Lagriffoul

Pecora

2017

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

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“…Benamati et al [9] introduced a at potential eld approach to the navigation of mobile robots in a static environment. Liang et al [10] studied a non-holonomic path planning method by considering both the constraints available in the path and optimisation of the path. Papadopoulos et al [11] developed a nonholonomic path planning technique for mobile manipulators.…”

Section: Introductionmentioning

confidence: 99%

Static and Dynamic Path Planning of Humanoids using an Advanced Regression Controller

et al. 2018

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KEYWORDSAbstract. With the ability to mimic human behaviour, humanoid robots have become a topic of major interest among research fellows dealing with robotic investigation. The current work is focused on the design of a novel navigation controller based on the logic of the regression analysis to be used in the path planning and navigation of humanoid robots. The current investigation focuses on static and dynamic path planning of humanoid NAOs. The static path planning represents a single NAO navigating through random static obstacles. The dynamic path planning represents multiple humanoid NAOs navigating through random static obstacles and acting as dynamic obstacles for each other. A Petri-net controller is designed to avoid the collision among multiple NAOs in dynamic path planning. To reduce path length and time travel and provide the shortest possible path, an advanced regression controller is implemented in the NAOs in both simulation and experimental environments. Finally, a comparison has been performed between the simulation and experimental results, and good agreement is observed between both of the results with a minimal percentage of error. The proposed navigation controller is also tested against other existing navigational technologies to validate better e ciency.

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“…Different approaches were made for the path planning that involves different types of curves such as cubic splines [2], cubic spirals [3], and Bezier curves [1,[4][5]. Another crucial factor to be considered during path planning is satisfying the physical constraints of a mobile robot.…”

Section: Introductionmentioning

confidence: 99%

“…Any violation to these limitations would make the robot vulnerable to potential damage and produce inaccurate trajectory. Thus, various researches were made in order to deal with these limits such as the maximum velocity, maximum acceleration, and maximum jerk [1,[3][4]6].…”

Section: Introductionmentioning

confidence: 99%

“…In a curve contemplating high curvature, controlling the robot would be difficult and could result to either; the robot overshooting and not reaching the target point, or for it to slow down-less than the desired terminal velocities. Smooth path planning has been tackled actively between mobile robot researchers [3,5,[7][8]. Nonetheless, the ability of mobile robots to follow a certain path regardless of its curvature could open new doors for development, especially in the field of obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

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