Implementation of a technique for obstacle detection applied to Resistive Grid Path Planning Methodology

2021 ◽  
Author(s):  
Ediberto Perez-Alvarez ◽  
Hector Vazquez-Leal ◽  
Carlos Hernandez-Mejia
Keyword(s):  
Path Planning ◽  
Obstacle Detection ◽  
Planning Methodology

A Study on the Obstacle Detection and Path Planning of Automobile Using LiDAR

2019 ◽  
Vol 29 (1) ◽  
pp. 30-35
Author(s):  
Yongbeom Lee ◽  
EunGi Cho ◽  
Hyukdoo Choi ◽  
Seongkeun Park
Keyword(s):  
Path Planning ◽  
Obstacle Detection

An Efficient Path Planning Methodology Based on the Starting Region Selection

2020 ◽  
Author(s):  
Xin Chen ◽  
Zhaobo Qin ◽  
Jingjing Fan ◽  
Huajian Zhou ◽  
Liang Chen
Keyword(s):  
Path Planning ◽  
Region Selection ◽  
Planning Methodology

scholarly journals INDOOR NAVIGATION FROM POINT CLOUDS: 3D MODELLING AND OBSTACLE DETECTION

2016 ◽  
Vol XLI-B4 ◽  
pp. 275-281 ◽  
Author(s):  
L. Díaz-Vilariño ◽  
P. Boguslawski ◽  
K. Khoshelham ◽  
H. Lorenzo ◽  
L. Mahdjoubi
Keyword(s):  
Laser Scanner ◽  
Route Planning ◽  
Point Clouds ◽  
3D Modelling ◽  
Obstacle Detection ◽  
Indoor Navigation ◽  
3D Point Clouds ◽  
Emergency Assistance ◽  
Planning Methodology ◽  
Real State

In the recent years, indoor modelling and navigation has become a research of interest because many stakeholders require navigation assistance in various application scenarios. The navigational assistance for blind or wheelchair people, building crisis management such as fire protection, augmented reality for gaming, tourism or training emergency assistance units are just some of the direct applications of indoor modelling and navigation. <br><br> Navigational information is traditionally extracted from 2D drawings or layouts. Real state of indoors, including opening position and geometry for both windows and doors, and the presence of obstacles is commonly ignored. <br><br> In this work, a real indoor-path planning methodology based on 3D point clouds is developed. The value and originality of the approach consist on considering point clouds not only for reconstructing semantically-rich 3D indoor models, but also for detecting potential obstacles in the route planning and using these for readapting the routes according to the real state of the indoor depictured by the laser scanner.

scholarly journals INDOOR NAVIGATION FROM POINT CLOUDS: 3D MODELLING AND OBSTACLE DETECTION

2016 ◽  
Vol XLI-B4 ◽  
pp. 275-281 ◽  
Author(s):  
L. Díaz-Vilariño ◽  
P. Boguslawski ◽  
K. Khoshelham ◽  
H. Lorenzo ◽  
L. Mahdjoubi
Keyword(s):  
Laser Scanner ◽  
Route Planning ◽  
Point Clouds ◽  
3D Modelling ◽  
Obstacle Detection ◽  
Indoor Navigation ◽  
3D Point Clouds ◽  
Emergency Assistance ◽  
Planning Methodology ◽  
Real State

In the recent years, indoor modelling and navigation has become a research of interest because many stakeholders require navigation assistance in various application scenarios. The navigational assistance for blind or wheelchair people, building crisis management such as fire protection, augmented reality for gaming, tourism or training emergency assistance units are just some of the direct applications of indoor modelling and navigation. <br><br> Navigational information is traditionally extracted from 2D drawings or layouts. Real state of indoors, including opening position and geometry for both windows and doors, and the presence of obstacles is commonly ignored. <br><br> In this work, a real indoor-path planning methodology based on 3D point clouds is developed. The value and originality of the approach consist on considering point clouds not only for reconstructing semantically-rich 3D indoor models, but also for detecting potential obstacles in the route planning and using these for readapting the routes according to the real state of the indoor depictured by the laser scanner.

A Novel Collision-Free Path Planning Modeling and Simulation Methodology for Robotical Arms Using Resistive Grids

Robotica ◽  
2019 ◽  
Vol 38 (7) ◽  
pp. 1176-1190
Author(s):  
Carlos Hernández-Mejía ◽  
Héctor Vázquez-Leal ◽  
Delia Torres-Muñoz
Keyword(s):  
Path Planning ◽  
Modeling And Simulation ◽  
Free Path ◽  
Configuration Space ◽  
Robotic Arms ◽  
Simulation Methodology ◽  
Time Modeling ◽  
Starting Point ◽  
Resistive Grids ◽  
Planning Methodology

SUMMARYPath planning represents planning collision-free strategies to move from starting point to ending point. These strategies can be carried out for known and unknown environments. Recently, a novel and reduced CPU-time modeling and simulation methodology for path planning in known environment based on resistive grids (RGs) has been introduced. In this work, a novel modified version of Resistive Grid Path Planning Methodology (RGPPM) methodology is presented with the purpose of exploring collision-free path planning for robotic arms. This extension of the methodology allows to numerically relate positions in the RG with angular values of the robotic systems. In addition, it is possible to include obstacles in the configuration space, and therefore collision detection can be established for RGs. Finally, the variation of links for robotic arms and obstacles for configuration space is explored by simulating different scenarios.

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