A new optimization-driven path planning method with probabilistic completeness for wheeled mobile robots

Wheeled mobile robots are widely utilized for environment-exploring tasks both on earth and in space. As a basis for global path planning tasks for wheeled mobile robots, in this study we propose a method for establishing an energy-based cost map. Then, we utilize an improved dual covariant Hamiltonian optimization for motion planning method, to perform point-to-region path planning in energy-based maps. The method is capable of efficiently handling high-dimensional path planning tasks with non-convex cost functions through applying a robust active set algorithm, that is, non-monotone gradient projection algorithm. To solve the problem that the path planning process is locked in weak minima or non-convergence, we propose a randomized variant of the improved dual covariant Hamiltonian optimization for motion planning based on simulated annealing and Hamiltonian Monte Carlo methods. The results of simulations demonstrate that the final paths generated can be time efficient, energy efficient and smooth. And the probabilistic completeness of the method is guaranteed.

Download Full-text

An Investigation into the Energy-Efficient Motion of Autonomous Wheeled Mobile Robots

Energies ◽

10.3390/en14123517 ◽

2021 ◽

Vol 14 (12) ◽

pp. 3517

Author(s):

Mohammad Mohammadpour ◽

Lotfi Zeghmi ◽

Sousso Kelouwani ◽

Marc-André Gaudreau ◽

Ali Amamou ◽

...

Keyword(s):

Energy Efficiency ◽

Energy Consumption ◽

Motion Planning ◽

Mobile Robots ◽

Energy Efficient ◽

Wheeled Mobile Robots ◽

Production Chain ◽

Planning Stage ◽

Material Transportation ◽

Global Energy Consumption

In recent years, the use of electric Autonomous Wheeled Mobile Robots (AWMRs) has dramatically increased in transport of the production chain. Generally, AWMRs must operate for several hours on a single battery charge. Since the energy density of the battery is limited, energy efficiency becomes a key element in improving material transportation performance during the manufacturing process. However, energy consumption is influenced by the navigation stages, because the type of motion necessary for the AWMR to perform during a mission is totally defined by these stages. Therefore, this paper analyzes methods of energy efficiency that have been studied recently for AWMR navigation stages. The selected publications are classified into planning and motion control categories in order to identify research gaps. Unlike other similar studies, this work focuses on these methods with respect to their implications for the energy consumption of AWMRs. In addition, by using an industrial Self-Guided Vehicle (SGV), we illustrate the direct influence of the motion planning stage on global energy consumption by means of several simulations and experiments. The results indicate that the reaction of the SGV in response to unforeseen obstacles can affect the amount of energy consumed. Hence, energy constraints must be considered when developing the motion planning of AWMRs.

Download Full-text

A survey of energy-efficient motion planning for wheeled mobile robots

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-03-2020-0063 ◽

2020 ◽

Vol 47 (4) ◽

pp. 607-621

Author(s):

Haojie Zhang ◽

Yudong Zhang ◽

Tiantian Yang

Keyword(s):

Energy Consumption ◽

Motion Planning ◽

Mobile Robots ◽

Energy Efficient ◽

Wheeled Mobile Robots ◽

Content Type ◽

Dynamic Constraints ◽

Time Optimization ◽

Energy Consumption Model ◽

Real Time Optimization

Purpose As wheeled mobile robots find increasing use in outdoor applications, it becomes more important to reduce energy consumption to perform more missions efficiently with limit energy supply. The purpose of this paper is to survey the current state-of-the-art on energy-efficient motion planning (EEMP) for wheeled mobile robots. Design/methodology/approach The use of wheeled mobile robots has been increased to replace humans in performing risky missions in outdoor applications, and the requirement of motion planning with efficient energy consumption is necessary. This study analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present. The dynamic constraints play a key role in EEMP problem, which derive the power model related to energy consumption. The surveyed approaches differ in the used steering mechanisms for wheeled mobile robots, in assumptions on the structure of the environment and in computational requirements. The comparison among different EEMP methods is proposed in optimal, computation time and completeness. Findings According to lots of literature in EEMP problem, the research results can be roughly divided into online real-time optimization and offline optimization. The energy consumption is considered during online real-time optimization, which is computationally expensive and time-consuming. The energy consumption model is used to evaluate the candidate motions offline and to obtain the optimal energy consumption motion. Sometimes, this optimization method may cause local minimal problem and even fail to track. Therefore, integrating the energy consumption model into the online motion planning will be the research trend of EEMP problem, and more comprehensive approach to EEMP problem is presented. Research limitations/implications EEMP is closely related to robot’s dynamic constraints. This paper mainly surveyed in EEMP problem for differential steered, Ackermann-steered, skid-steered and omni-directional steered robots. Other steering mechanisms of wheeled mobile robots are not discussed in this study. Practical implications The survey of performance of various EEMP serves as a reference for robots with different steering mechanisms using in special scenarios. Originality/value This paper analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present.

Download Full-text