Класичні Методи Планування Шляху Для Мобільних Роботів

Protsenko, Andrii; Ivanov, Valerii

doi:10.26906/sunz.2019.3.143

Cited by 2 publications

(1 citation statement)

References 25 publications

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“…In our previous work [1] we noted how RRT-based search algorithms differ from others in their simplicity and compactness. They could provide solution fast and without the usage of a lot of computing power.…”

Section: Introductionmentioning

confidence: 99%

Comparative Analysis of RRT-Based Methods for Pathfinding in Underground Environment

Protsenko

Ivanov

2020

A.I.S.

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Ab s t r a c t. The importance of finding a path for autonomous moving robots is indispensable, because the successful achievement of the target location depends on the solution of this problem. There are a large number of different methods of finding the way, which differ in the accuracy of work, speed, the need for additional equipment. Underground environments, such as mines and tunnels, differ from other structures and open space, and therefore, require different approach when performing pathfinding, as narrow, curved passages and heterogeneous structure could render some of the pathfinding methods ineffective. However, methods based on rapidly exploring random trees (RRT) maintain their effectiveness because they are unaffected by the complexity of the environment. In this article presented a comparison of the three RRT-based methods: RRT, RRT-connect and RRT*. K e ywor d s : robot; pathfinding; autonomy; RRT.

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Section: Introductionmentioning

confidence: 99%

Comparative Analysis of RRT-Based Methods for Pathfinding in Underground Environment

Protsenko

Ivanov

2020

A.I.S.

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Modern Methods and Algorithms of Path Planning for Autonomous Mobile Robots, Their Objective Functions

Bernacki

2024

Communication, Informatization and Cybersecurity Systems and Technologies

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The current situation in the world of research algorithms for path planning by autonomous robots shows that there are a large number of algorithms and their modifications that require researchers and engineers of autonomous robotics to have a fine understanding of the fundamental aspects of their functioning. The general goal of the research is to conduct an analysis of existing algorithms, methods and their modifications from the point of view of the component of the mathematical apparatus, namely their target functions. The research examines 38 modern algorithms and methods of path planning by autonomous robots. Considered the importance and criticality of understanding the objective function for the field of robotics. Examples illustrating the importance of this aspect are given. In the process of research, algorithms are presented in the form of formalized generalized mathematical formulas taking into account possible minimization/maximization, their improvements and improvements. For each considered algorithm and method, a conclusion is given regarding its target function. In the study, the methods of "Dynamic games" are separately highlighted and the application of the fundamental "Method of solving functions of A.O. Chikryi" for path planning is considered. In general, information on the advantages and importance of understanding the mathematical apparatus of pathfinding algorithms by autonomous robots for solving scientific problems is provided. The generalized results are summarized in a single comparative table, which provides the main formalized function of the algorithms, reveals the main idea, advantages/disadvantages, the scope of application and an example of use. The comparative table is presented in the form of a generalized auxiliary reference element of the study.

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Класичні Методи Планування Шляху Для Мобільних Роботів

Cited by 2 publications

References 25 publications

Comparative Analysis of RRT-Based Methods for Pathfinding in Underground Environment

Comparative Analysis of RRT-Based Methods for Pathfinding in Underground Environment

Modern Methods and Algorithms of Path Planning for Autonomous Mobile Robots, Their Objective Functions

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