scholarly journals Probability Dueling DQN active visual SLAM for autonomous navigation in indoor environment

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shuhuan Wen ◽  
Xiaohan Lv ◽  
Hak Keung Lam ◽  
Shaokang Fan ◽  
Xiao Yuan ◽  
...  
Keyword(s):  
Path Planning ◽  
Autonomous Navigation ◽  
Indoor Environment ◽  
Prediction Method ◽  
Depth Image ◽  
Visual Slam ◽  
Content Type ◽  
Localization And Mapping ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Purpose This paper aims to use the Monodepth method to improve the prediction speed of identifying the obstacles and proposes a Probability Dueling DQN algorithm to optimize the path of the agent, which can reach the destination more quickly than the Dueling DQN algorithm. Then the path planning algorithm based on Probability Dueling DQN is combined with FastSLAM to accomplish the autonomous navigation and map the environment. Design/methodology/approach This paper proposes an active simultaneous localization and mapping (SLAM) framework for autonomous navigation under an indoor environment with static and dynamic obstacles. It integrates a path planning algorithm with visual SLAM to decrease navigation uncertainty and build an environment map. Findings The result shows that the proposed method offers good performance over existing Dueling DQN for navigation uncertainty under the indoor environment with different numbers and shapes of the static and dynamic obstacles in the real world field. Originality/value This paper proposes a novel active SLAM framework composed of Probability Dueling DQN that is the improved path planning algorithm based on Dueling DQN and FastSLAM. This framework is used with the Monodepth depth image prediction method with faster prediction speed to realize autonomous navigation in the indoor environment with different numbers and shapes of the static and dynamic obstacles.

Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot

2018 ◽  
Vol 45 (5) ◽  
pp. 688-702 ◽  
Author(s):  
Dayal R. Parhi ◽  
Animesh Chhotray
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Weight Functions ◽  
Feasible Point ◽  
Content Type ◽  
Intelligent Technique ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Incremental Step

PurposeThis paper aims to generate an obstacle free real time optimal path in a cluttered environment for a two-wheeled mobile robot (TWMR).Design/methodology/approachThis TWMR resembles an inverted pendulum having an intermediate body mounted on a robotic mobile platform with two wheels driven by two DC motors separately. In this article, a novel motion planning strategy named as DAYANI arc contour intelligent technique has been proposed for navigation of the two-wheeled self-balancing robot in a global environment populated by obstacles. The developed new path planning algorithm evaluates the best next feasible point of motion considering five weight functions from an arc contour depending upon five separate navigational parameters.FindingsAuthenticity of the proposed navigational algorithm has been demonstrated by computing the path length and time taken through a series of simulations and experimental verifications and the average percentage of error is found to be about 6%.Practical implicationsThis robot dynamically stabilizes itself with taller configuration, can spin on the spot and rove along through obstacles with smaller footprints. This diversifies its areas of application to both indoor and outdoor environments especially with very narrow spaces, sharp turns and inclined surfaces where its multi-wheel counterparts feel difficult to perform.Originality/valueA new obstacle avoidance and path planning algorithm through incremental step advancement by evaluating the best next feasible point of motion has been established and verified through both experiment and simulation.

Hybrid obstacle avoidance system with vision and ultrasonic sensors for multi-rotor MAVs

2018 ◽  
Vol 45 (2) ◽  
pp. 227-236 ◽  
Author(s):  
Qiang Zhou ◽  
Danping Zou ◽  
Peilin Liu
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Moving Objects ◽  
Point Clouds ◽  
Ultrasonic Sensor ◽  
Content Type ◽  
Stereo Camera ◽  
3D Point Clouds ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Purpose This paper aims to develop an obstacle avoidance system for a multi-rotor micro aerial vehicle (MAV) that flies in indoor environments which usually contain transparent, texture-less or moving objects. Design/methodology/approach The system adopts a combination of a stereo camera and an ultrasonic sensor to detect obstacles and extracts three-dimensional (3D) point clouds. The obstacle map is built on a coarse global map and updated by local maps generated by the recent 3D point clouds. An efficient layered A* path planning algorithm is also proposed to address the path planning in 3D space for MAVs. Findings The authors conducted a lot of experiments in both static and dynamic scenes. The results show that the obstacle avoidance system works reliably even when transparent or texture-less obstacles are present. The layered A* path planning algorithm is much faster than the traditional 3D algorithm and makes the system response quickly when the obstacle map has been changed because of the moving objects. Research limitations/implications The limited field of view of both stereo camera and ultrasonic sensor makes the system need to change heading first before moving side to side or moving backward. But this problem could be addressed when multiple systems are mounted toward different directions on the MAV. Practical implications The developed approach could be valuable to applications in indoors. Originality/value This paper presents a robust obstacle avoidance system and a fast layered path planning algorithm that are easy to be implemented for practical systems.

A prioritized planning algorithm of trajectory coordination based on time windows for multiple AGVs with delay disturbance

2019 ◽  
Vol 39 (5) ◽  
pp. 753-768 ◽  
Author(s):  
Ruochen Tai ◽  
Jingchuan Wang ◽  
Weidong Chen
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Scheduling Algorithm ◽  
Time Windows ◽  
Previous Method ◽  
Automated Guided Vehicles ◽  
Content Type ◽  
Time Performance ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Purpose In the running of multiple automated guided vehicles (AGVs) in warehouses, delay problems in motions happen unavoidably as there might exist some disabled components of robots, the instability of networks and the interference of people walking. Under this case, robots would not follow the designed paths and the coupled relationship between temporal and space domain for paths is broken. And there is no doubt that other robots are disturbed by the ones where delays happen. Finally, this brings about chaos or even breakdown of the whole system. Therefore, taking the delay disturbance into consideration in the path planning of multiple robots is an issue worthy of attention and research. Design/methodology/approach This paper proposes a prioritized path planning algorithm based on time windows to solve the delay problems of multiple AGVs. The architecture is a unity consisting of three components which are focused on scheduling AGVs under normal operations, delays of AGVs, and recovery of AGVs. In the components of scheduling AGVs under normal operations and recovery, this paper adopts a dynamic routing method based on time windows to ensure the coordination of multiple AGVs and efficient completion of tasks. In the component for scheduling AGVs under delays, a dynamical prioritized local path planning algorithm based on time windows is designed to solve delay problems. The introduced planning principle of time windows would enable the algorithm to plan new solutions of trajectories for multiple AGVs, which could lower the makespan. At the same time, the real-time performance is acceptable based on the planning principle which stipulates the parameters of local time windows to ensure that the computation of the designed algorithm would not be too large. Findings The simulation results demonstrate that the proposed algorithm is more efficient than the state-of-the-art method based on homotopy classes, which aims at solving the delay problems. What is more, it is validated that the proposed algorithm can achieve the acceptable real-time performance for the scheduling in warehousing applications. Originality/value By introducing the planning principle and generating delay space and local adjustable paths, the proposed algorithm in this paper can not only solve the delay problems in real time, but also lower the makespan compared with the previous method. The designed algorithm guarantees the scheduling of multiple AGVs with delay disturbance and enhances the robustness of the scheduling algorithm in multi-AGV system.

Control of forming process of truss structure based on cold metal transition technology

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Tianqi Wang ◽  
Xu Zhou ◽  
Hongyu Zhang
Keyword(s):  
Path Planning ◽  
Truss Structure ◽  
Force Analysis ◽  
Analysis Model ◽  
Forming Quality ◽  
Content Type ◽  
Welding Torch ◽  
Planning Algorithm ◽  
Cold Metal ◽  
Path Planning Algorithm

Purpose The purpose of this paper is to study the wire and arc additive manufacturing (WAAM) method and path planning algorithm of truss structure parts, to realize the collision-free rapid prototyping of truss structures with complex characteristics. Design/methodology/approach First, a point-by-point stacking strategy is proposed based on the spot-welding mode of cold metal transfer welding technology. A force analysis model of the droplet is established, which can be used to adjust the posture of the welding torch and solve the collapse problem in the WAAM process of the truss structure. The collision detection model is developed to calculate the interference size between the truss structure and the welding torch, which is used to control the offset of the welding torch. Finally, the ant colony algorithm has been used to optimize the moving path of welding torch between truss with considering the algorithm efficiency and collision avoiding and the efficiency of the algorithm is improved by discretizing the three-dimensional workspace. Findings A series of experiments were conducted to prove the validity of the proposed methods. The results show that the wire feeding speed, welding speed are the important parameters for controlling the WAAM process of truss parts. The inclination angle of the welding torch has an important influence on the forming quality of the truss. Originality/value The force analysis model of truss structure in the WAAM process is established to ensure the forming quality and a collision-free path planning algorithm is proposed to improve forming efficiency.

Slip Pridiction Based Path Planning for Planetary Rovers

2011 ◽  
Vol 267 ◽  
pp. 382-385
Author(s):  
Lan Feng Zhou
Keyword(s):  
Path Planning ◽  
Autonomous Navigation ◽  
Planetary Rover ◽  
Planetary Rovers ◽  
Navigation Algorithm ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Most methods of path planning for planetary rovers were designed for fairly benign terrain and do not account for potential slippage . Though the TANav system addresses slip prediction issue,it does not integrate directional slip prediction into the path planning algorithm.This paper presents an autonomous navigation algorithm for planetary rover based on slip pridiction. This method does integrate directional slip prediction into the path planning algorithm resolving the essue of emerging higher-level behaviors such as planning a path with switch-backs up a slope. The result of simulation demonstrates that this method is effective.

Motion and path planning of a novel multi-mode mobile parallel robot based on chessboard-shaped grid division

2018 ◽  
Vol 45 (3) ◽  
pp. 390-400 ◽  
Author(s):  
Zhaotian Wang ◽  
Yezhuo Li ◽  
Yan-An Yao
Keyword(s):  
Path Planning ◽  
Parallel Robot ◽  
Content Type ◽  
Planning Strategy ◽  
Planning Algorithm ◽  
Rolling Mode ◽  
Path Planning Algorithm ◽  
Grid Division ◽  
Multi Mode ◽  
Motion Strategy

Purpose The purpose of this paper is to put forward a rolling assistant robot with two rolling modes, and the multi-mode rolling motion strategy with path planning algorithm, which is suitable to this multi-mode mobile robot, is proposed based on chessboard-shaped grid division (CGD). Design/methodology/approach Based on the kinematic analysis and motion properties of the mobile parallel robot, the motion strategy based on CGD path planning algorithm of a mobile robot with two rolling modes moving to a target position is divided into two parts, which are local self-motion planning and global path planning. In the first part, the mobile parallel robot can move by switching and combining the two rolling modes; and in the second part, the specific algorithm of the global path planning is proposed according to the CGD of the moving ground. Findings The assistant robot, which is a novel 4-RSR mobile parallel robot (where R denotes a revolute joint and S denotes a spherical joint) integrating operation and rolling locomotion (Watt linkage rolling mode and 6R linkage rolling mode), can work as a moving spotlight or worktable. A series of simulation and prototype experiment results are presented to verify the CGD path planning strategy of the robot, and the performance of the path planning experiments in simulations and practices shows the validation of the path planning analysis. Originality/value The work presented in this paper is a further exploration to apply parallel mechanisms with two rolling modes to the field of assistant rolling robots by proposing the CGD path planning strategy. It is also a new attempt to use the specific path planning algorithm in the field of mobile robots for operating tasks.

An automated guided logistics robot for pallet transportation

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Rui Lin ◽  
Haibo Huang ◽  
Maohai Li
Keyword(s):  
Path Planning ◽  
Navigation System ◽  
Traffic Congestion ◽  
Compact Structure ◽  
Content Type ◽  
Working Space ◽  
System A ◽  
Planning Algorithm ◽  
Transportation Vehicle ◽  
Path Planning Algorithm

Purpose This study aims to present an automated guided logistics robot mainly designed for pallet transportation. Logistics robot is compactly designed. It could pick up the pallet precisely and transport the pallet up to 1,000 kg automatically in the warehouse. It could move freely in all directions without turning the chassis. It could work without any additional infrastructure based on laser navigation system proposed in this work. Design/methodology/approach Logistics robot should be able to move underneath and lift up the pallet accurately. Logistics robot mainly consists of two sub-robots, like two forks of the forklift. Each sub-robot has front and rear driving units. A new compact driving unit is compactly designed as a key component to ensure access to the narrow free entry of the pallet. Besides synchronous motions in all directions, the two sub-robots should also perform synchronous lifting up and laying down the pallet. Logistics robot uses a front laser to detect obstacles and locate itself using on-board navigation system. A rear laser is used to recognize and guide the sub-robots to pick up the pallet precisely within ± 5mm/1o in x-/yaw direction. Path planning algorithm under different constraints is proposed for logistics robot to obey the traffic rules of pallet logistics. Findings Compared with the traditional forklift vehicles, logistics robot has the advantages of more compact structure and higher expandability. It can realize the omnidirectional movement flexibly without turning the chassis and take zero-radius turn by controlling compact driving units synchronously. Logistics robot can move collision-free into any pallet that has not been precisely placed. It can plan the paths for returning to charge station and charge automatically. So it can work uninterruptedly for 7 × 24 h. Path planning algorithm proposed can avoid traffic congestion and improve the passability of the narrow roads to improve logistics efficiencies. Logistics robot is quite suitable for the standardized logistics factory with small working space. Originality/value This is a new innovation for pallet transportation vehicle to improve logistics automation.

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