A hybrid path planning technique developed by integrating global and local path planner

2016 ◽  
Author(s):  
Muhammad Imran ◽  
F. Kunwar
Keyword(s):  
Path Planning ◽  
Planning Technique ◽  
Local Path ◽  
Path Planner ◽  
Global And Local

A joint global and local path planning optimization for UAV task scheduling towards crowd air monitoring

2021 ◽  
Vol 193 ◽  
pp. 107913
Author(s):  
Yuan Tang ◽  
Yiming Miao ◽  
Ahmed Barnawi ◽  
Bander Alzahrani ◽  
Reem Alotaibi ◽  
...  
Keyword(s):  
Path Planning ◽  
Task Scheduling ◽  
Air Monitoring ◽  
Local Path Planning ◽  
Planning Optimization ◽  
Local Path ◽  
Global And Local

scholarly journals Path Planning for Autonomous Ships: A Hybrid Approach Based on Improved APF and Modified VO Methods

2021 ◽  
Vol 9 (7) ◽  
pp. 761
Author(s):  
Liang Zhang ◽  
Junmin Mou ◽  
Pengfei Chen ◽  
Mengxia Li
Keyword(s):  
Path Planning ◽  
Local Minimum ◽  
Hybrid Approach ◽  
Artificial Potential Field ◽  
Whole Process ◽  
International Regulations ◽  
Local Path ◽  
Velocity Obstacle ◽  
Global And Local

In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified velocity obstacle (VO) method that incorporates the closest point of approach (CPA) model and the International Regulations for Preventing Collisions at Sea (COLREGS), based on the typical VO method, can be used to get the local path. The contribution of this research is two-fold: (1) improvement of the typical APF and VO methods, making up for previous shortcomings, and integrated COLREGS rules and good seamanship, making the paths obtained more in line with navigation practice; (2) the research included global and local path planning, considering both the safety and maneuverability of the ship in the process of avoiding collision, and studied the whole process of avoiding collision in a relatively entirely way. A case study was then conducted to test the proposed approach in different situations. The results indicate that the proposed approach can find both global and local paths to avoid the target ship.

Artificial moment method using attractive points for the local path planning of a single robot in complicated dynamic environments

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1263-1274 ◽  
Author(s):  
Wang-bao Xu ◽  
Jie Zhao ◽  
Xue-bo Chen ◽  
Ying Zhang
Keyword(s):  
Path Planning ◽  
Dynamic Environment ◽  
Motion Controller ◽  
Motion Direction ◽  
Local Path Planning ◽  
Full Speed ◽  
Direction Line ◽  
Local Path ◽  
Path Planner ◽  
Sampling Times

SUMMARYA novel path planner is presented for the local path planning of a single robot (represented with R) in a complicated dynamic environment. Here a series of attractive points are computed based on attractive segments for guiding R to move along a shorter path. Each attractive segment is obtained by using the full environmental knowledge and will be used for several sampling times in general. A motion controller, which is designed based on artificial moments and a robot model that has a principal motion direction line(PMDline), makes R move closely to attractive points while away from obstacles. Attractive and repulsive moments are designed, which only make R's PMDline face toward attractive points and opposite to obstacles in general, as in most cases, R will move along its PMDline with its full speed. Because of the guidance of attractive points and R's full-speed motion, the global convergence is guaranteed. Simulations indicate that the proposed path planner meets the requirements of real-time property while can optimize R's traveling path.

Optimization of Focused Wave Front Algorithm in Unknown Dynamic Environment for Multi-Robot Navigation

2013 ◽  
Vol 3 (4) ◽  
pp. 1-29
Author(s):  
Priyanka Meel ◽  
Ritu Tiwari ◽  
Anupam Shukla
Keyword(s):  
Path Planning ◽  
Wave Front ◽  
Dynamic Environment ◽  
New Method ◽  
Safety Zone ◽  
Color Sensitivity ◽  
Focused Wave ◽  
Local Path ◽  
Global And Local ◽  
Multi Robot

Robotics is a field which includes multiple disciplines such as environment mapping, localization, path planning, path execution, area exploration etc. Path planning is the elementary requirement for all the above mentioned diversified fields. This paper presents a new method for motion planning of mobile robots which carry forward the best features of Focused Wave Front and other wave front based path planners, at the same time optimizes the algorithm in terms of path length, energy consumption and memory requirements. This research introduces a method of choosing every next step in grid based environment and also proposes a backtracking procedure to minimize turns by means of identifying landmark points in the path. Further, the authors have enhanced the functionality of Focused Wave Front algorithm by applying it in uncertain dynamic environment. The proposed method is a combination of global and local path planning as well as online and offline navigation process. A new method based on bidirectional wave propagation along the walls of obstacle and wall following behavior is being proposed for avoiding uncertain static obstacles. Considering the criticalness of moving obstacles a colored safety zone is assumed to have around them and the robot is equipped with color sensitivity. Based on the particular color (red, green, yellow) that has sensed the robot will make intelligent decisions to avoid them. The simulation result reflects how the proposed method has efficiently and safely navigates a robot towards its destination by avoiding all known and unknown obstacles. Finally the algorithms are extended for multi-robot environment.

Optimization of Focused Wave Front Algorithm in Unknown Dynamic Environment for Multi-Robot Navigation

2019 ◽  
pp. 553-581
Author(s):  
Priyanka Meel ◽  
Ritu Tiwari ◽  
Anupam Shukla
Keyword(s):  
Path Planning ◽  
Wave Front ◽  
Path Length ◽  
Dynamic Environment ◽  
New Method ◽  
Focused Wave ◽  
Local Path ◽  
Global And Local ◽  
Grid Based ◽  
Multi Robot

Robotics is a field which includes multiple disciplines such as environment mapping, localization, path planning, path execution, area exploration etc. Path planning is the elementary requirement for all the above mentioned diversified fields. This paper presents a new method for motion planning of mobile robots which carry forward the best features of Focused Wave Front and other wave front based path planners, at the same time optimizes the algorithm in terms of path length, energy consumption and memory requirements. This research introduces a method of choosing every next step in grid based environment and also proposes a backtracking procedure to minimize turns by means of identifying landmark points in the path. Further, the authors have enhanced the functionality of Focused Wave Front algorithm by applying it in uncertain dynamic environment. The proposed method is a combination of global and local path planning as well as online and offline navigation process. A new method based on bidirectional wave propagation along the walls of obstacle and wall following behavior is being proposed for avoiding uncertain static obstacles. Considering the criticalness of moving obstacles a colored safety zone is assumed to have around them and the robot is equipped with color sensitivity. Based on the particular color (red, green, yellow) that has sensed the robot will make intelligent decisions to avoid them. The simulation result reflects how the proposed method has efficiently and safely navigates a robot towards its destination by avoiding all known and unknown obstacles. Finally the algorithms are extended for multi-robot environment.

scholarly journals Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Pablo Marin-Plaza ◽  
Ahmed Hussein ◽  
David Martin ◽  
Arturo de la Escalera
Keyword(s):  
Path Planning ◽  
Autonomous Vehicles ◽  
Starting Point ◽  
Model Configuration ◽  
Software Prototyping ◽  
Research Platform ◽  
Local Path ◽  
Low Sensitivity ◽  
Global And Local ◽  
Carlos Iii

The aim of this work is to integrate and analyze the performance of a path planning method based on Time Elastic Bands (TEB) in real research platform based on Ackermann model. Moreover, it will be proved that all modules related to the navigation can coexist and work together to achieve the goal point without any collision. The study is done by analyzing the trajectory generated from global and local planners. The software prototyping tool is Robot Operating System (ROS) from Open Source Robotics Foundation and the research platform is the iCab (Intelligent Campus Automobile) from University Carlos III. This work has been validated from a test inside the campus where the iCab has performed the navigation between the starting point and the goal point without any collision. During the experiment, we proved the low sensitivity of the TEB method to variations of the vehicle model configuration and constraints.

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