A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots

2021 ◽  
pp. 1-1
Author(s):  
Zhiqiang Jian ◽  
Songyi Zhang ◽  
Shitao Chen ◽  
Zhixiong Nan ◽  
Nanning Zheng
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Planning Method ◽  
Two Stage ◽  
Local Coupling

A Path Planning Method for Mobile Robots in a Structured Environment

1992 ◽  
pp. 261-270 ◽  
Author(s):  
Fivos V. Hatzivasiliou ◽  
Spyros G. Tzafestas
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Planning Method

Two-Stage Sector Partition Path Planning Method for Automated Fiber Placement on Complex Surfaces

2021 ◽  
Vol 132 ◽  
pp. 102983
Author(s):  
Jiaxin Gao ◽  
Weiwei Qu ◽  
Di Yang ◽  
Weidong Zhu ◽  
Yinglin Ke
Keyword(s):  
Path Planning ◽  
Planning Method ◽  
Complex Surfaces ◽  
Two Stage ◽  
Fiber Placement ◽  
Automated Fiber Placement

scholarly journals A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6919
Author(s):  
Tao Song ◽  
Xiang Huo ◽  
Xinkai Wu
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Search Time ◽  
Optimal Solution ◽  
Corner Detection ◽  
Planning Problem ◽  
Complete Coverage ◽  
Two Stage ◽  
Set Up ◽  
Target Searching

The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To tackle this issue, we propose a two-stage optimization model to efficiently obtain an approximate optimal solution. In this model, we first develop a method to determine the key locations for visual complete coverage of a two-dimensional grid map, which is constructed by drawing lessons from the method of corner detection in the image processing. Then, we design a planning problem for searching the shortest path that passes all key locations considering the frequency of target occurrence. The testing results show that the proposed algorithm can achieve the significantly shorter search path length and the shorter target search time than the current Rule-based Algorithm and Genetic Algorithm (GA) in various simulation cases. Furthermore, the results show that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time. We also set up a test in a real environment to verify the feasibility of our algorithm.

scholarly journals Hexagonal Grid-Based Framework for Mobile Robot Navigation

2021 ◽  
Vol 13 (21) ◽  
pp. 4216
Author(s):  
Piotr Duszak ◽  
Barbara Siemiątkowska ◽  
Rafał Więckowski
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robot Navigation ◽  
Hexagonal Lattice ◽  
Planning Method ◽  
Experimental Results ◽  
Mobile Robot Navigation ◽  
Rectangular Grid ◽  
Grid Based

The paper addresses the problem of mobile robots’ navigation using a hexagonal lattice. We carried out experiments in which we used a vehicle equipped with a set of sensors. Based on the data, a traversable map was created. The experimental results proved that hexagonal maps of an environment can be easily built based on sensor readings. The path planning method has many advantages: the situation in which obstacles surround the position of the robot or the target is easily detected, and we can influence the properties of the path, e.g., the distance from obstacles or the type of surface can be taken into account. A path can be smoothed more easily than with a rectangular grid.

scholarly journals A Two-Stage Path Planning Method for the Rearrangement Problem in Modular Puzzle-Based Storage System

2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Penghui Guo ◽  
Fei Xiao ◽  
Wanzhi Rui ◽  
Zhengrong Jia ◽  
Jin Xu
Keyword(s):  
Path Planning ◽  
Storage System ◽  
Planning Method ◽  
Initial State ◽  
Two Stage ◽  
Multiple Input ◽  
Multiple Orders ◽  
Simultaneous Movement ◽  
Two Stages ◽  
Merging Method

The modular puzzle-based storage system consists of multiple storage modules. The system has multiple input/output (IO) points which can simultaneously deal with multiple orders in one batch. When a batch of orders comes in advance, it is necessary to rearrange the items near each IO point to reduce the picking time of customers. To complete the rearrangement quickly, this paper proposes a two-stage path planning method considering the simultaneous movement of multiple items. This method includes two stages: planning single moves and merging single moves. In the first stage, the sequence of single moves of each module needs to be obtained so as to convert the system from an initial state to a target state. In the second stage, the single moves in the sequence are merged into block moves and parallel moves to reduce the steps of movement. The simulation results show that the single move planning method can be used to solve the rearrangement problem stably and effectively and that the single move merging method can greatly optimize the experimental results with the optimization rate more than 50% in different configurations.

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