scholarly journals Real-Time Hybrid Navigation System-Based Path Planning and Obstacle Avoidance for Mobile Robots

2020 ◽  
Vol 10 (10) ◽  
pp. 3355 ◽  
Author(s):  
Phan Gia Luan ◽  
Nguyen Truong Thinh
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Heuristic Algorithm ◽  
Navigation System ◽  
Dynamic Environment ◽  
Model Parameters ◽  
Moving Frames ◽  
Proposed Model ◽  
Multi Agent

In this work, we present a complete hybrid navigation system for a two-wheel differential drive mobile robot that includes static-environment- global-path planning and dynamic environment obstacle-avoidance tasks. By the given map, we propose a multi-agent A-heuristic algorithm for finding the optimal obstacle-free path. The result is less time-consuming and involves fewer changes in path length when dealing with multiple agents than the ordinary A-heuristic algorithm. The obtained path was smoothed based on curvature-continuous piecewise cubic Bézier curve (C2 PCBC) before being used as a trajectory by the robot. In the second task of the robot, we supposed any unforeseen obstacles were recognized and their moving frames were estimated by the sensors when the robot tracked on the trajectory. In order to adapt to the dynamic environment with the presence of constant velocity obstacles, a weighted-sum model (WSM) was employed. The 2D LiDAR data, the robot’s frame and the detected moving obstacle’s frame were collected and fed to the WSM during the movement of the robot. Through this information, the WSM chose a temporary target and a C2 PCBC-based subtrajectory was generated that led the robot to avoid the presented obstacle. Experimentally, the proposed model responded well in existing feasible solution cases with fine-tuned model parameters. We further provide the re-path algorithm that helped the robot track on the initial trajectory. The experimental results show the real-time performance of the system applied in our robot.

scholarly journals Path planning method with obstacle avoidance for manipulators in dynamic environment

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141882022 ◽  
Author(s):  
Gang Chen ◽  
Dan Liu ◽  
Yifan Wang ◽  
Qingxuan Jia ◽  
Xiaodong Zhang
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Collision Detection ◽  
Point Cloud ◽  
Cloud Model ◽  
Dynamic Environment ◽  
Collision Probability ◽  
Point Cloud Model ◽  
Bounding Boxes

Obstacle avoidance is of great importance for path planning of manipulators in dynamic environment. To help manipulators successfully perform tasks, a method of path planning with obstacle avoidance is proposed in this article. It consists of two consecutive phases, namely, collision detection and obstacle-avoidance path planning. The collision detection is realized by establishing point-cloud model and testing intersection of axis-aligned bounding boxes trees, while obstacle-avoidance path planning is achieved through preplanning a global path and adjusting it in real time. This article has the following contributions. The point-cloud model is of high resolution while the speed of collision detection is improved, and collision points can be found exactly. The preplanned global path is optimized based on the improved D-star algorithm, which reduces inflection points and decreases collision probability. The real-time path adjusting strategy satisfies the requirement of reachability and obstacle avoidance for manipulators in dynamic environment. Simulations and experiments are carried out to evaluate the validity of the proposed method, and the method is available to manipulators of any degree of freedom in dynamic environment.

scholarly journals Obstacle Avoidace Robot Using LabView

2015 ◽  
Vol 4 (3) ◽  
pp. 164
Author(s):  
Tasher Ali Sheikh ◽  
Swacheta Dutta ◽  
Smriti Baruah ◽  
Pooja Sharma ◽  
Sahadev Roy
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Autonomous Robotics ◽  
Continuous Transition ◽  
Heavy Burden ◽  
Avoidance Strategy ◽  
Small Period ◽  
Specific Amount

The concept of path planning and collision avoidance are two of the most common theories applied for designing and developing in advanced autonomous robotics applications. NI LabView makes it possible to implement real-time processor for obstacle avoidance. The obstacle avoidance strategy ensures that the robot whenever senses the obstacle stops without being collided and moves freely when path is free, but sometimes there exists a probability that once the path is found free and the robot starts moving, then within a fraction of milliseconds, the robot again sense the obstacle and it stops. This continuous swing of stop and run within a very small period of time may cause heavy burden on the system leading to malfunctioning of the components of the system. This paper deals with overcoming this drawback in a way that even after the robot calculates the path is free then also it will wait for a specific amount of time before running it. So as to confirm that if again the sensor detects the obstacle within that specified period then robot don’t need to transit its state suddenly thus avoiding continuous transition of run and stop. Thus it reduces the heavy burden on the system.

scholarly journals Real-Time Path Planning for Multi-DoF Manipulators in Dynamic Environment

10.5772/5749 ◽  
2006 ◽  
Vol 3 (2) ◽  
pp. 20 ◽  
Author(s):  
Samir Lahouar ◽  
Said Zeghloul ◽  
Lotfi Romdhane
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Dynamic Environment ◽  
Time Path

scholarly journals Earthquake Detection in a Static and Dynamic Environment Using Supervised Machine Learning and a Novel Feature Extraction Method

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 800 ◽  
Author(s):  
Irshad Khan ◽  
Seonhwa Choi ◽  
Young-Woo Kwon
Keyword(s):  
Machine Learning ◽  
Real Time ◽  
Dynamic Environment ◽  
Supervised Machine Learning ◽  
Experimental Result ◽  
Feature Extraction Method ◽  
Proposed Model ◽  
Unseen Data ◽  
Iot Devices ◽  
Hard Real Time

Detecting earthquakes using smartphones or IoT devices in real-time is an arduous and challenging task, not only because it is constrained with the hard real-time issue but also due to the similarity of earthquake signals and the non-earthquake signals (i.e., noise or other activities). Moreover, the variety of human activities also makes it more difficult when a smartphone is used as an earthquake detecting sensor. To that end, in this article, we leverage a machine learning technique with earthquake features rather than traditional seismic methods. First, we split the detection task into two categories including static environment and dynamic environment. Then, we experimentally evaluate different features and propose the most appropriate machine learning model and features for the static environment to tackle the issue of noisy components and detect earthquakes in real-time with less false alarm rates. The experimental result of the proposed model shows promising results not only on the given dataset but also on the unseen data pointing to the generalization characteristics of the model. Finally, we demonstrate that the proposed model can be also used in the dynamic environment if it is trained with different dataset.

scholarly journals Prototype Survey of Path Planning and Obstacle Avoidance in UAV Systems

2018 ◽  
Vol 7 (3.34) ◽  
pp. 316 ◽  
Author(s):  
S SARATH CHANDRA ◽  
Dr A. S. C. S. SASTRY
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Point Interaction ◽  
Paper Analysis ◽  
Indoor Environments ◽  
Aerial Vehicles ◽  
Planning Technique ◽  
Result Analysis ◽  
Path Detection

In recent years, have seen rapidly growing interest with implementation and development of different type of networks of multiple unnamed aerial vehicles (UAV), as aerial sensor networks for inter co-operative monitoring, surveillance monitoring and rapid emergency response for communication. This is an emerging concept in real time communicative networks. Path detection, planning and obstacle avoidance is the aggressive representation for unnamed aerial vehicles in indoor environments. There are many techniques/approaches are introduced to evaluate above features for real time communicative environments. So in this paper, we discuss about those techniques implementation procedure and brief description regarding obstacle avoidance, multi-point interaction to track the location in wireless network communications. This paper analysis most successful path detection, planning and other reference based methods with successive description in real time scenario. Furthermore, a comprehensive with comparable result analysis of each path planning technique by considering their implementation in time complexity  and other parameters in real time communicative networks.  

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.

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