Collision avoidance and path planning for industrial manipulator using slice-based heuristic fast marching tree

Coverage path planning (CPP) is a field of study which objective is to find a path that covers every point of a certain area of interest. Recently, the use of Unmanned Aerial Vehicles (UAVs) has become more proficient in various applications such as surveillance, terrain coverage, mapping, natural disaster tracking, transport, and others. The aim of this paper is to design efficient coverage path planning collision-avoidance capable algorithms for single or multi UAV systems in cluttered urban environments. Two algorithms are developed and explored: one of them plans paths to cover a target zone delimited by a given perimeter with predefined coverage height and bandwidth, using a boustrophedon flight pattern, while the other proposed algorithm follows a set of predefined viewpoints , calculating a smooth path that ensures that the UAVs pass over the objectives. Both algorithms have been developed for a scalable number of UAVs, which fly in a triangular deformable leader-follower formation with the leader at its front. In the case of an even number of UAVs, there is no leader at the front of the formation and a virtual leader is used to plan the paths of the followers. The presented algorithms also have collision avoidance capabilities, powered by the Fast Marching Square algorithm. These algorithms are tested in various simulated urban and cluttered environments, and they prove capable of providing safe and smooth paths for the UAV formation in urban environments.

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Path planning and collision avoidance for autonomous surface vehicles II: a comparative study of algorithms

Journal of Marine Science and Technology ◽

10.1007/s00773-020-00790-x ◽

2021 ◽

Author(s):

Anete Vagale ◽

Robin T. Bye ◽

Rachid Oucheikh ◽

Ottar L. Osen ◽

Thor I. Fossen

Keyword(s):

Path Planning ◽

Comparative Study ◽

Collision Avoidance ◽

State Of The Art ◽

Potential Fields ◽

Large Set ◽

Enabling Technology ◽

Fast Marching ◽

Autonomous Surface Vehicles ◽

Current State

AbstractArtificial intelligence is an enabling technology for autonomous surface vehicles, with methods such as evolutionary algorithms, artificial potential fields, fast marching methods, and many others becoming increasingly popular for solving problems such as path planning and collision avoidance. However, there currently is no unified way to evaluate the performance of different algorithms, for example with regard to safety or risk. This paper is a step in that direction and offers a comparative study of current state-of-the art path planning and collision avoidance algorithms for autonomous surface vehicles. Across 45 selected papers, we compare important performance properties of the proposed algorithms related to the vessel and the environment it is operating in. We also analyse how safety is incorporated, and what components constitute the objective function in these algorithms. Finally, we focus on comparing advantages and limitations of the 45 analysed papers. A key finding is the need for a unified platform for evaluating and comparing the performance of algorithms under a large set of possible real-world scenarios.

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Integrated Path Planning and Tracking Control of Autonomous Vehicle for Collision Avoidance based on Model Predictive Control and Potential Field

2020 20th International Conference on Control, Automation and Systems (ICCAS) ◽

10.23919/iccas50221.2020.9268369 ◽

2020 ◽

Author(s):

Chanho. Ko ◽

Seungho. Han ◽

Minseong. Choi ◽

Kyung-Soo. Kim

Keyword(s):

Path Planning ◽

Model Predictive Control ◽

Collision Avoidance ◽

Predictive Control ◽

Potential Field ◽

Tracking Control ◽

Autonomous Vehicle

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A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study

Sensors ◽

10.3390/s20051488 ◽

2020 ◽

Vol 20 (5) ◽

pp. 1488

Author(s):

Federico Peralta ◽

Mario Arzamendia ◽

Derlis Gregor ◽

Daniel G. Reina ◽

Sergio Toral

Keyword(s):

Path Planning ◽

Random Trees ◽

Fast Marching Method ◽

Fast Marching ◽

Planning Techniques ◽

Advantages And Disadvantages ◽

Autonomous Surface Vehicle ◽

Local Path Planning ◽

Custom Made ◽

Local Path

Local path planning is important in the development of autonomous vehicles since it allows a vehicle to adapt their movements to dynamic environments, for instance, when obstacles are detected. This work presents an evaluation of the performance of different local path planning techniques for an Autonomous Surface Vehicle, using a custom-made simulator based on the open-source Robotarium framework. The conducted simulations allow to verify, compare and visualize the solutions of the different techniques. The selected techniques for evaluation include A*, Potential Fields (PF), Rapidly-Exploring Random Trees* (RRT*) and variations of the Fast Marching Method (FMM), along with a proposed new method called Updating the Fast Marching Square method (uFMS). The evaluation proposed in this work includes ways to summarize time and safety measures for local path planning techniques. The results in a Lake environment present the advantages and disadvantages of using each technique. The proposed uFMS and A* have been shown to achieve interesting performance in terms of processing time, distance travelled and security levels. Furthermore, the proposed uFMS algorithm is capable of generating smoother routes.

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COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

Journal of Marine Science and Engineering ◽

10.3390/jmse9040405 ◽

2021 ◽

Vol 9 (4) ◽

pp. 405

Author(s):

Raphael Zaccone

Keyword(s):

Path Planning ◽

Real Time ◽

Collision Avoidance ◽

Autonomous Navigation ◽

Optimal Path ◽

Open Water ◽

Optimal Path Planning ◽

Guidance And Control ◽

Real Time Applications ◽

And Control

While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

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Collision avoidance for a redundant manipulator in an unstructured environment with a simplified path planning and multiple self-organizing maps

2005 IEEE International Conference on Robotics and Biomimetics - ROBIO ◽

10.1109/robio.2005.246286 ◽

2005 ◽

Author(s):

Min Han ◽

N. Okada ◽

E. Kondo

Keyword(s):

Path Planning ◽

Collision Avoidance ◽

Redundant Manipulator ◽

Self Organizing Maps ◽

Unstructured Environment ◽

Self Organizing

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Path Planning Scheme for Collision Avoidance in Unmanned Aerial Vehicle Traffic Management System

10.1109/conecct52877.2021.9622656 ◽

2021 ◽

Author(s):

Amaanullah ◽

Muhammed Ahmed Lamba ◽

Surya Prakash S ◽

Shrikant S. Tangade ◽

Syed Sehraab Nawaz ◽

...

Keyword(s):

Path Planning ◽

Collision Avoidance ◽

Unmanned Aerial Vehicle ◽

Traffic Management ◽

Management System ◽

Vehicle Traffic ◽

Planning Scheme ◽

Aerial Vehicle ◽

Traffic Management System

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Obstacle Avoidace Robot Using LabView

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v4i3.pp164-167 ◽

2015 ◽

Vol 4 (3) ◽

pp. 164

Author(s):

Tasher Ali Sheikh ◽

Swacheta Dutta ◽

Smriti Baruah ◽

Pooja Sharma ◽

Sahadev Roy

Keyword(s):

Path Planning ◽

Real Time ◽

Collision Avoidance ◽

Obstacle Avoidance ◽

Autonomous Robotics ◽

Continuous Transition ◽

Heavy Burden ◽

Avoidance Strategy ◽

Small Period ◽

Specific Amount

The concept of path planning and collision avoidance are two of the most common theories applied for designing and developing in advanced autonomous robotics applications. NI LabView makes it possible to implement real-time processor for obstacle avoidance. The obstacle avoidance strategy ensures that the robot whenever senses the obstacle stops without being collided and moves freely when path is free, but sometimes there exists a probability that once the path is found free and the robot starts moving, then within a fraction of milliseconds, the robot again sense the obstacle and it stops. This continuous swing of stop and run within a very small period of time may cause heavy burden on the system leading to malfunctioning of the components of the system. This paper deals with overcoming this drawback in a way that even after the robot calculates the path is free then also it will wait for a specific amount of time before running it. So as to confirm that if again the sensor detects the obstacle within that specified period then robot don’t need to transit its state suddenly thus avoiding continuous transition of run and stop. Thus it reduces the heavy burden on the system.

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