Waypoint based path planner for socially aware robot navigation

2022 ◽  
Author(s):  
Hasan Kivrak ◽  
Furkan Cakmak ◽  
Hatice Kose ◽  
Sirma Yavuz
Keyword(s):  
Robot Navigation ◽  
Path Planner

scholarly journals PSO based path planner of an autonomous mobile robot

2012 ◽  
Vol 2 (2) ◽  
Author(s):  
B. Deepak ◽  
Dayal Parhi
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Fitness Function ◽  
Optimal Path ◽  
Mobile Robot Navigation ◽  
Autonomous Mobile Robot ◽  
Swarm Optimization ◽  
Novel Approach ◽  
Fitness Value ◽  
Path Planner

AbstractA novel approach based on particle swarm optimization has been presented in this paper for solving mobile robot navigation task. The proposed technique tries to optimize the path generated by an intelligent mobile robot from its source position to destination position in its work space. For solving this problem, a new fitness function has been modelled, which satisfies the obstacle avoidance and optimal path traversal conditions. From the obtained fitness values of each particle in the swarm, the robot moves towards the particle which is having optimal fitness value. Simulation results are provided to validate the feasibility of the developed methodology in various unknown environments.

A New Real Time Path Planning for Mobile Robot Navigation Using Invasive Weed Optimization Algorithm

2014 ◽  
Author(s):  
Prases K. Mohanty ◽  
Dayal R. Parhi
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Robot Navigation ◽  
Fitness Function ◽  
Optimal Path ◽  
Mobile Robot Navigation ◽  
Invasive Weed Optimization ◽  
Invasive Weed ◽  
Planning Algorithm ◽  
Path Planner

In this article a new optimal path planner for mobile robot navigation based on invasive weed optimization (IWO) algorithm has been addressed. This ecologically inspired algorithm is based on the colonizing property of weeds and distribution. A new fitness function has been formed between robot to goal and obstacles, which satisfied the conditions of both obstacle avoidance and target seeking behavior in robot present in the environment. Depending on the fitness function value of each weed in the colony the robot that avoids obstacles and navigating towards goal. The optimal path is generated with this developed algorithm when the robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed navigational algorithm has been performed through a series of simulation and experimental results. The results obtained from the proposed algorithm has been also compared with other intelligent algorithms (Bacteria foraging algorithm and Genetic algorithm) to show the adaptability of the developed navigational method. Finally, it has been concluded that the proposed path planning algorithm can be effectively implemented in any kind of complex environments.

An Efficient Path Replanning Technique for EST-Based Robot Navigation in Dynamic Environments

2013 ◽  
Vol 313-314 ◽  
pp. 908-912
Author(s):  
Heon Cheol Lee ◽  
Tae Seok Lee ◽  
Seung Hwan Lee ◽  
Beom Hee Lee
Keyword(s):  
Robot Navigation ◽  
Dynamic Environments ◽  
Simulation Results ◽  
Path Planner

Expansive-Spaces Trees (EST) is a single-query sampling-based path planner. When EST is applied to robot navigation in dynamic environments, EST confronts the risk of a collision with dynamic obstacles since it has generated a path without any consideration for dynamic obstacles. This paper proposes an efficient path replanning technique for EST-based robot navigation in dynamic environments. The proposed technique replans a collision-free and efficient path instead of the original EST path which may cause a collision with dynamic obstacles. Besides, the replanned path can be easily merged into the original EST path because it preserves the property of EST. Simulation results in various dynamic environments reveal that the proposed technique can successfully replan a collision-free and efficient path for EST-based navigation.

Interactive Motion Planning for Mobile Robot Navigation in Dynamic Environments

2017 ◽  
Vol 21 (4) ◽  
pp. 667-674 ◽  
Author(s):  
Satoshi Hoshino ◽  
◽  
Kenichiro Uchida
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Robot Navigation ◽  
Dynamic Environments ◽  
Human Robot Interaction ◽  
Mobile Robot Navigation ◽  
Robot Interaction ◽  
Moving Obstacles ◽  
Local Path ◽  
Path Planner

In dynamic environments, taking static and moving obstacles into consideration in motion planning for mobile robot navigation is a technical issue. In this paper, we use a single mobile robot, for which humans are moving obstacles. Since moving humans sometimes get in the way of the robot, it must avoid collisions with them. Furthermore, if a part of the environment is crowded with humans, it is better for the robot to detour around the congested area. For this navigational challenge, we focus on the interaction between humans and the robot, so this paper proposes a motion planner for successfully getting through the human-robot interaction. The interactive motion planner is based on the hybrid use of global and local path planners. Furthermore, the local path planner is executed repetitively during the navigation. Through the human-robot interaction, the robot is enabled not only to avoid the collisions with humans but also to detour around congested areas. The emergence of this movement is the main contribution of this paper. We discuss the simulation results in terms of the effectiveness of the proposed motion planner for robot navigation in dynamic environments that include humans.

Safe mobile robot navigation in human-centered environments using a heat map-based path planner

2020 ◽  
Vol 25 (2) ◽  
pp. 264-272
Author(s):  
Abhijeet Ravankar ◽  
Ankit A. Ravankar ◽  
Yohei Hoshino ◽  
Michiko Watanabe ◽  
Yukinori Kobayashi
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Heat Map ◽  
Path Planner
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