A real-time path planning algorithm for cable-driven parallel robots in dynamic environment based on artificial potential guided RRT

2020 ◽  
Vol 26 (11) ◽  
pp. 3533-3546
Author(s):  
Jiajun Xu ◽  
Kyoung-Su Park
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Dynamic Environment ◽  
Parallel Robots ◽  
Time Path ◽  
Planning Algorithm ◽  
Path Planning Algorithm

scholarly journals A Path Planning Algorithm for a Dynamic Environment Based on Proper Generalized Decomposition

Mathematics ◽  
2020 ◽  
Vol 8 (12) ◽  
pp. 2245
Author(s):  
Antonio Falcó ◽  
Lucía Hilario ◽  
Nicolás Montés ◽  
Marta C. Mora ◽  
Enrique Nadal
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real Time ◽  
Potential Field ◽  
Dynamic Environment ◽  
Artificial Potential Field ◽  
Proper Generalized Decomposition ◽  
Partial Differential ◽  
Planning Algorithm ◽  
Path Planning Algorithm

A necessity in the design of a path planning algorithm is to account for the environment. If the movement of the mobile robot is through a dynamic environment, the algorithm needs to include the main constraint: real-time collision avoidance. This kind of problem has been studied by different researchers suggesting different techniques to solve the problem of how to design a trajectory of a mobile robot avoiding collisions with dynamic obstacles. One of these algorithms is the artificial potential field (APF), proposed by O. Khatib in 1986, where a set of an artificial potential field is generated to attract the mobile robot to the goal and to repel the obstacles. This is one of the best options to obtain the trajectory of a mobile robot in real-time (RT). However, the main disadvantage is the presence of deadlocks. The mobile robot can be trapped in one of the local minima. In 1988, J.F. Canny suggested an alternative solution using harmonic functions satisfying the Laplace partial differential equation. When this article appeared, it was nearly impossible to apply this algorithm to RT applications. Years later a novel technique called proper generalized decomposition (PGD) appeared to solve partial differential equations, including parameters, the main appeal being that the solution is obtained once in life, including all the possible parameters. Our previous work, published in 2018, was the first approach to study the possibility of applying the PGD to designing a path planning alternative to the algorithms that nowadays exist. The target of this work is to improve our first approach while including dynamic obstacles as extra parameters.

A Real-Time Path-Planning Algorithm based on Receding Horizon Techniques

2017 ◽  
Vol 91 (3-4) ◽  
pp. 445-457 ◽  
Author(s):  
M. Murillo ◽  
G. Sánchez ◽  
L. Genzelis ◽  
L. Giovanini
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Receding Horizon ◽  
Time Path ◽  
Planning Algorithm ◽  
Path Planning Algorithm

scholarly journals A Novel Real-Time Penetration Path Planning Algorithm for Stealth UAV in 3D Complex Dynamic Environment

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 122757-122771 ◽  
Author(s):  
Zhe Zhang ◽  
Jian Wu ◽  
Jiyang Dai ◽  
Cheng He
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Dynamic Environment ◽  
Complex Dynamic ◽  
Planning Algorithm ◽  
Path Planning Algorithm
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