Shortest trajectory planning of wheeled mobile robots with constraints

Joe, Woong Yeol; Ryu, Yeong; Montalvo, M.A.

doi:10.1109/icnsc.2005.1461309

Cited by 8 publications

(6 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Cho and Ryeu [7] had configured the mobile platform's initial location at origin and initial orientation at zero degree. In order to simplify the identification, environment will be rotate until the desired orientation of mobile platform is equal to zero degree [8].…”

Section: Shortest Path Classificationmentioning

confidence: 99%

Simulation of nonholonomic trajectory for a car-like mobile platform using dubins shortest path model

Said

Sundaraj

2011

2011 IEEE Conference on Sustainable Utilization and Development in Engineering and Technology (STUDENT)

View full text Add to dashboard Cite

Vehicles that move autonomously have received a good deal of attention where various top agencies have been the major sponsor of research in this field. Natural disaster such as earthquake, typhoon and tsunami would be extremely dangerous for search and rescue operation. Autonomous vehicle would be a great piece of equipment which could response effectively to the incidence. Dubins curve is implemented in the study to obtain the shortest path for navigation on car-like mobile platform. Integrating the path planning feature into autonomous vehicle can optimize the vehicles performance especially when the power source is limited.

show abstract

Section: Shortest Path Classificationmentioning

confidence: 99%

Simulation of nonholonomic trajectory for a car-like mobile platform using dubins shortest path model

Said

Sundaraj

2011

2011 IEEE Conference on Sustainable Utilization and Development in Engineering and Technology (STUDENT)

View full text Add to dashboard Cite

show abstract

“…Ny et al [14] applied the Dubins path to solving the path planning of the traveling salesman problem (TSP). Yeol et al [15] gave a shortest trajectory planning algorithm based on the Dubins curve and suitable for aircraft or mobile robots. Dubins path was applied to UAV obstacle avoidance and multi-UAV collaborative operations [16] .…”

Section: Introductionmentioning

confidence: 99%

Novel obstacle-avoiding path planning for crop protection UAV using optimized Dubins curve

Zhang¹,

Fan²,

Cao³

et al. 2020

International Journal of Agricultural and Biological Engineering

View full text Add to dashboard Cite

In recent years, the crop protection unmanned aerial vehicle (UAV) has been raised great attention around the world due to the advantages of more efficient operation and lower requirement of special landing airport. However, there are few researches on obstacle-avoiding path planning for crop protection UAV. In this study, an improved Dubins curve algorithm was proposed for path planning with multiple obstacle constraints. First, according to the flight parameters of UAV and the types of obstacles in the field, the obstacle circle model and the small obstacle model were established. Second, after selecting the appropriate Dubins curve to generate the obstacle-avoiding path for multiple obstacles, the genetic algorithm (GA) was used to search the optimal obstacle-avoiding path. Third, for turning in the path planning, a strategy considering the size of the spray width and the UAV's minimum turning radius was presented, which could decrease the speed change times. The results showed that the proposed algorithm can decrease the area of overlap and skip to 205.1%, while the path length increased by only 1.6% in comparison with the traditional Dubins obstacle-avoiding algorithm under the same conditions. With the increase of obstacle radius, the area of overlap and skip reduced effectively with no significant increase in path length. Therefore, the algorithm can efficiently improve the validity of path planning with multiple obstacle constraints and ensure the safety of flight.

show abstract

“…In computational geometry there are a lot of problems asking to construct a trajectory which is optimal with respect to some natural criteria, such as the distance, time, cost, resource consumption and so on. We refer to the papers [2,71,88,95] as good examples of finding the shortest path in a complex terrain; and to [7,35,90] as examples of finding the fastest route. We refer to the shortest paths as length-optimal trajectories and to the fastest routes as time-optimal trajectories.…”

Section: Computational Geometry and Applicationsmentioning

confidence: 99%

“…The second difficulty comes from the introduction of obstacles in the terrain. This type of problems is widely considered in computational geometry, see [1,88,95]. Usually obstacles are given by the continuous curves in three-dimensional space representing some geographic landscape.…”

Section: Computational Geometry and Applicationsmentioning

confidence: 99%

See 1 more Smart Citation

Exploiting geometric properties in combinatorial optimization = Benutten van geomwetrische eigenschappen in combinatiorische optimalisatie

Usotskaya¹

View full text Add to dashboard Cite

People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal.This thesis would never appear without the endless support of some people. I am glad to name them here. First of all, many thanks go to my enormously patient supervisor, Alexander Grigoriev. He was always full of enthusiasm and new ideas about any project.Part of the research was made in close cooperation with André Berger and Bert Marchal. I am very grateful for the knowledge, ideas and precision they brought into the thesis. My special thanks go to Bert for his patience and for always being there for me.The unconditional support of my parents led me from the secondary school to this doctoral thesis. Without their understanding and help I would never proceeded so far. Thank you, mom and dad.Special thanks to my beloved roommate Bas, for charts and the guidance through the Dutch culture and humor. His regular jokes and shiny smiles made rainy days much brighter. He was not the only one who lightened my life during these years. Without mentioning their names I thank all the friends and colleagues from the university, who made my life in Maastricht a very enjoyable and precious time.A lot of thanks go to Karin and Haydeé for their help with all the paper work. These pretty ladies make the atmosphere in the department pleasant and relaxing.I thank Rudolf Müller, Jean Cardinal and Ralf Peeters for refereeing the thesis and for all the useful comments they provided to make the text more clear and readable.The research that forms the basis of this thesis was conducted from 2008 to 2011 at the Quantitative Economics department; it was funded by the department and by Maastricht Research School of Economics of Technology and Organizations (ME-TEOR). This support is gratefully acknowledged.

show abstract

Shortest trajectory planning of wheeled mobile robots with constraints

Cited by 8 publications

References 12 publications

Simulation of nonholonomic trajectory for a car-like mobile platform using dubins shortest path model

Simulation of nonholonomic trajectory for a car-like mobile platform using dubins shortest path model

Novel obstacle-avoiding path planning for crop protection UAV using optimized Dubins curve

Exploiting geometric properties in combinatorial optimization = Benutten van geomwetrische eigenschappen in combinatiorische optimalisatie

Contact Info

Product

Resources

About