Online UAS local path-planning algorithm for outdoors obstacle avoidance based on attractive and repulsive potential fields

2016 ◽  
Author(s):  
Gary Elias Dimas Flores ◽  
Eduardo Steed Espinoza Quesada ◽  
Sergio Salazar Cruz ◽  
Luis Rodolfo Garcia Carrillo ◽  
Rogelio Lozano
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Potential Fields ◽  
Repulsive Potential ◽  
Local Path Planning ◽  
Planning Algorithm ◽  
Local Path ◽  
Path Planning Algorithm

scholarly journals 2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Xuexi Zhang ◽  
Jiajun Lai ◽  
Dongliang Xu ◽  
Huaijun Li ◽  
Minyue Fu
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Basic System ◽  
Rescue Robot ◽  
Planning Algorithm ◽  
Local Path ◽  
Slam Algorithm ◽  
Path Planning Algorithm

As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission. Although the current 2D Lidar-based SLAM algorithm, including its application in indoor rescue environment, has achieved much success, the evaluation of SLAM algorithms combined with path planning for indoor rescue has rarely been studied. This paper studies mapping and path planning for mobile robots in an indoor rescue environment. Combined with path planning algorithm, this paper analyzes the applicability of three SLAM algorithms (GMapping algorithm, Hector-SLAM algorithm, and Cartographer algorithm) in indoor rescue environment. Real-time path planning is studied to test the mapping results. To balance path optimality and obstacle avoidance, A ∗ algorithm is used for global path planning, and DWA algorithm is adopted for local path planning. Experimental results validate the SLAM and path planning algorithms in simulated, emulated, and competition rescue environments, respectively. Finally, the results of this paper may facilitate researchers quickly and clearly selecting appropriate algorithms to build SLAM systems according to their own demands.

A smooth local path planning algorithm based on modified visibility graph

2017 ◽  
Vol 31 (19-21) ◽  
pp. 1740091 ◽  
Author(s):  
Taizhi Lv ◽  
Maoyan Feng
Keyword(s):  
Path Planning ◽  
Simulation Experiment ◽  
Visibility Graph ◽  
Local Path Planning ◽  
Spline Curves ◽  
Smooth Path ◽  
Planning Algorithm ◽  
Path Search ◽  
Local Path ◽  
Path Planning Algorithm

Path planning is an essential and inevitable problem in robotics. Trapping in local minima and discontinuities often exist in local path planning. To overcome these drawbacks, this paper presents a smooth path planning algorithm based on modified visibility graph. This algorithm consists of three steps: (1) polygons are generated from detected obstacles; (2) a collision-free path is found by simultaneous visibility graph construction and path search by A[Formula: see text] (SVGA); (3) the path is smoothed by B-spline curves and particle swarm optimization (PSO). Simulation experiment results show the effectiveness of this algorithm, and a smooth path can be found fleetly.

Research on local path planning based on improved RRT algorithm

2021 ◽  
pp. 095440702199362
Author(s):  
Changfu Zong ◽  
Xiaojian Han ◽  
Dong Zhang ◽  
Yang Liu ◽  
Weiqiang Zhao ◽  
...  
Keyword(s):  
Path Planning ◽  
Vehicle Dynamics ◽  
Simulation Software ◽  
Tracking Algorithm ◽  
Expansion Phase ◽  
Local Path Planning ◽  
Planning Algorithm ◽  
Local Path ◽  
Path Planning Algorithm ◽  
Actual Size

In order to solve the local path planning of self-driving car in the structured road environment, an improved path planning algorithm named Regional-Sampling RRT (RS-RRT) algorithm was proposed for obstacle avoidance conditions. Gaussian distribution sampling and local biasing sampling were integrated to improve the search efficiency in the sampling phase. In the expansion phase, considering the actual size of the vehicle and obstacles, combined with the goal of safety and comfort, the separating axis theorem (SAT) method and vehicle dynamics were used to detect the collision among vehicle and surrounding obstacles in real time. In the post-processing stage, the driver’s driving consensus and path smoothing algorithm were combined to correct the planning path. In order to track the generated path, the MPC tracking algorithm was designed based on the Four-Wheel-Independent Electric Vehicle (FWIEV) model. The co-simulation software platform of CarSim and MATLAB/Simulink was employed to verify the effectiveness and feasibility of the path planning and tracking algorithm. The results show that compared with basic RRT and Goal-biasing RRT, the proposed RS-RRT algorithm has advantages in terms of number of nodes, path length and running time. The generated path can meet the FWIEV dynamics and path tracking requirements.

scholarly journals Efficient Local Path Planning Algorithm Using Artificial Potential Field Supported by Augmented Reality

Energies ◽  
2021 ◽  
Vol 14 (20) ◽  
pp. 6642
Author(s):  
Rafal Szczepanski ◽  
Artur Bereit ◽  
Tomasz Tarczewski
Keyword(s):  
Augmented Reality ◽  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
Local Minimum ◽  
Artificial Potential Field ◽  
Local Path Planning ◽  
Planning Algorithm ◽  
Local Path ◽  
Path Planning Algorithm

Mobile robots in industry are commonly used in warehouses and factories. To achieve the highest production rate, requirements for path planning algorithms have caused researchers to pay significant attention to this problem. The Artificial Potential Field algorithm, which is a local path planning algorithm, has been previously modified to obtain higher smoothness of path, to solve the stagnation problem and to jump off the local minimum. The last itemized problem is taken into account in this paper—local minimum avoidance. Most of the modifications of Artificial Potential Field algorithms focus on a mechanism to jump off a local minimum when robots stagnate. From the efficiency point of view, the mobile robot should bypass the local minimum instead of jumping off it. This paper proposes a novel Artificial Potential Field supported by augmented reality to bypass the upcoming local minimum. The algorithm predicts the upcoming local minimum, and then the mobile robot’s perception is augmented to bypass it. The proposed method allows the generation of shorter paths compared with jumping-off techniques, due to lack of stagnation in a local minimum. This method was experimentally verified using a Husarion ROSbot 2.0 PRO mobile robot and Robot Operating System in a laboratory environment.

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