scholarly journals An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8312
Author(s):  
Jiafeng Wu ◽  
Xianghua Ma ◽  
Tongrui Peng ◽  
Haojie Wang
Keyword(s):  
Velocity Curve ◽  
Visualization Tool ◽  
Complex Environment ◽  
Elastic Band ◽  
Planning Time ◽  
Ground Vehicle ◽  
Robot Operating System ◽  
Simulated Experiment ◽  
Dynamic Obstacle ◽  
Local Path

In recent decades, the Timed Elastic Band (TEB) algorithm is widely used for the AGV local path panning because of its convenient and efficiency. However, it may make a local detour when encountering a curve turn and cause excessive energy consumption. To solve this problem, this paper proposed an improved TEB algorithm to make the AGV walk along the wall when turning, which shortens the planning time and saves energy. Experiments were implemented in the Rviz visualization tool platform of the robot operating system (ROS). Simulated experiment results reflect that an amount of 5% reduction in the planning time has been achieved and the velocity curve implies that the operation was relatively smooth. Practical experiment results demonstrate the effectiveness and feasibility of the proposed method that the robots can avoid obstacles smoothly in the unknown static and dynamic obstacle environment.

scholarly journals Development of Path Planning Algorithm of Centipede Inspired Wheeled Robot in Presence of Static and Moving Obstacles Using ModifiedCritical-SnakeBug Algorithm

2019 ◽  
Vol 8 (2) ◽  
pp. 95
Author(s):  
Subir Kumar Das ◽  
Ajoy Kumar Dutta ◽  
Subir Kumar Debnath
Keyword(s):  
Path Planning ◽  
Real Life ◽  
Real Life Situation ◽  
Planning Algorithm ◽  
Dynamic Obstacle ◽  
Local Path ◽  
Stiff Body ◽  
Almost All ◽  
Path Planning Algorithm ◽  
Adaptation Ability

<p>Path planning for a movable robot in real life situation has been widely cultivated and become research interest for last few decades. Biomimetic robots have increased attraction for their capability to develop various kind of walking in order to navigate in different environment. To meet this requirement of natural insect locomotion has enabled the development of composite tiny robots. Almost all insect-scale legged robots take motivation from stiff-body hexapods; though, a different distinctive organism we find in nature is centipede, distinguished by its numerous legs and pliable body. This uniqueness is anticipated to present performance benefits to build robot of the said type in terms of swiftness, steadiness, toughness, and adaptation ability.</p>This paper proposes a local path planning algorithm of multiple rake centipede inspired robot namely ModifiedCritical-SnakeBug(MCSB) algorithm. Algorithm tries to avoid static and dynamic obstacle both. The results demonstrate the capability of the algorithm.

scholarly journals A Study on the Effect of Parameters for ROS Motion Planer and Navigation System for Indoor Robot

2021 ◽  
Vol 1 (1) ◽  
pp. 29-36
Author(s):  
Chen Zheng Looi ◽  
Danny Wee Kiat Ng
Keyword(s):  
Operating System ◽  
Service Robot ◽  
Dijkstra Algorithm ◽  
Elastic Band ◽  
Office Environment ◽  
Robot Operating System ◽  
The Past ◽  
Navigation Algorithms ◽  
The Common ◽  
Window Approach

In the past decades, the service robot industry had risen rapidly. The office assistant robot is one type of service robot used to assist officers in an office environment. For the robot to navigate autonomously in the office, navigation algorithms and motion planners were implemented on these robots. Robot Operating System (ROS) is one of the common platforms to develop these robots. The parameters applied to the motion planners will affect the performance of the Robot. In this study, the global planners, A* and Dijkstra algorithm and local planners, Dynamic Window Approach (DWA) and Time Elastic Band (TEB) algorithms were implemented and tested on a robot in simulation and a real environment. Results from the experiments were used to evaluate and compare the performance of the robot with different planners and parameters. Based on the results obtained, the global planners, A* and Dijkstra algorithm both can achieve the required performance for this application whereas TEB outperforms DWA as the local planner due to its feasibility in avoiding dynamic obstacles in the experiments conducted.

scholarly journals A MOVING OBSTACLES PLANNER ALGORITHM FOR A SIX-WHEELED SURVEYING ROBOT

2019 ◽  
Vol XLII-4/W18 ◽  
pp. 191-195
Author(s):  
S. Bazhan ◽  
A. Hosseininaveh
Keyword(s):  
State Of The Art ◽  
Planning Problem ◽  
Simulation Environment ◽  
Ground Vehicle ◽  
Robot Operating System ◽  
Moving Obstacles ◽  
Wheeled Robot ◽  
Military Applications ◽  
Window Approach ◽  
Path Planning Problem

Abstract. Nowadays, robotic systems such as ground vehicle robots are mostly used in many industrial and military applications. Therefore, the path planning problem in the robotics domain is very important. Moving Obstacles Planner (MOP) algorithms have got the researchers interests in recent years and some of the most recent ones have been implemented in Robot Operating System (ROS) which is an open source middle wear to work with robots. This paper aims to compare the state-of-the-art MOP algorithms including Rapidly exploring Random Tree (RRT) and those implemented in the ROS navigation stack such as Dynamic Window Approach (DWA) local planner coupled with Dijkstra and A* as global planners on a six-wheeled robot known as MOOR in simulation environment. The results reveal that all of these algorithms have been designed for a square shape footprint robot and thus have limitations for MOOR with a rectangular footprint shape.

Impact on the Cement Mortar’s Uniaxial Compressive Strength under Erosion of SO42-

2014 ◽  
Vol 584-586 ◽  
pp. 1001-1004
Author(s):  
Nan Zheng ◽  
Yue Wang
Keyword(s):  
Compressive Strength ◽  
Uniaxial Compressive Strength ◽  
Building Material ◽  
Cement Mortar ◽  
Reference Value ◽  
Solution Concentration ◽  
Complex Environment ◽  
Simulated Experiment ◽  
Strain Relationship ◽  
Ion Erosion

Cement mortar is one of the commonly used building material . The effect of erosion is widely seen after a certain time. Based on the method of simulated experiment, Erosive ions at different concentrations, different age under uniaxial compressive strength of cement mortar and the influence of stress strain relationship are discussed. The results show that ion erosion was evident on cement mortar. Especially, certain solution concentration of SO42- can enhance the strength of cement mortar. This research has important reference value for the application of cement mortar in complex environment.

Online Heuristically Planning for Relative Optimal Paths Using a Stochastic Algorithm for USVs

2019 ◽  
Vol 73 (2) ◽  
pp. 485-508
Author(s):  
Naifeng Wen ◽  
Rubo Zhang ◽  
Guanqun Liu ◽  
Junwei Wu
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Optimal Path ◽  
Stochastic Algorithm ◽  
Proportional Navigation ◽  
Reference Information ◽  
International Regulations ◽  
Dynamic Obstacle Avoidance ◽  
Dynamic Obstacle ◽  
Local Path

This paper attempts to solve a challenge in online relative optimal path planning of unmanned surface vehicles (USVs) caused by current and wave disturbance in the practical marine environment. The asymptotically optimal rapidly extending random tree (RRT*) method for local path optimisation is improved. Based on that, an online path planning (OPP) scheme is proposed according to the USV's kinematic and dynamic model. The execution efficiency of RRT* is improved by reduction of the sampling space that is used for randomly learning environmental knowledge. A heuristic sampling scheme is proposed based on the proportional navigation guidance (PNG) method that is used to enable the OPP procedure to utilise the reference information of the global path. Meanwhile, PNG is used to guide RRT* in generating feasible paths with a small amount of gentle turns. The dynamic obstacle avoidance problem is also investigated based on the International Regulations for Preventing Collisions at Sea. Case studies demonstrate that the proposed method efficiently plans paths that are relatively easier to execute and lower in fuel expenditure than traditional schemes. The dynamic obstacle avoidance ability of the proposed scheme is also attested.

Robotic Fish Path Planning Based on an Improved A* Algorithm

2013 ◽  
Vol 336-338 ◽  
pp. 968-972 ◽  
Author(s):  
Huan Wang ◽  
Yu Lian Jiang
Keyword(s):  
Path Planning ◽  
Complex Environment ◽  
A Algorithm ◽  
Global Path Planning ◽  
Local Path Planning ◽  
Search Data ◽  
Infinite Loop ◽  
Transition Points ◽  
Local Path ◽  
Divide And Rule

Applying the global path planning to traditional A* algorithm in a complex environment and a lot of obstacles will result in an infinite loop because there are too many search data. To resolve this problem, this paper provides a new divide-and-rule path planning method which is based on improved A* algorithm. It uses several transition points to divide the entire grid map areas into several sub-regions. We set different speeds in each sub-region for local path planning. Thus the complex global path planning is turned into some simple local path planning. It reduces the search data of A* algorithm and avoids falling into the infinite loop. By this method, this paper designs the path planning of heading the ball, and smoothes the orbit. The simulation results show that the improved A* algorithm is better and more effective than the traditional one.

A novel method of unmanned surface vehicle autonomous cruise

2016 ◽  
Vol 43 (1) ◽  
pp. 121-130 ◽  
Author(s):  
Shaorong Xie ◽  
Peng Wu ◽  
Hengli Liu ◽  
Peng Yan ◽  
Xiaomao Li ◽  
...  
Keyword(s):  
Path Planning ◽  
Obstacle Detection ◽  
Planning Method ◽  
Dijkstra Algorithm ◽  
Complex Environment ◽  
Unmanned Surface Vehicle ◽  
Content Type ◽  
Global Path Planning ◽  
Local Path Planning ◽  
Local Path

Purpose – This paper aims to propose a new method for combining global path planning with local path planning, to provide an efficient solution for unmanned surface vehicle (USV) path planning despite the changeable environment. Path planning is the key issue of USV navigation. A lot of research works were done on the global and local path planning. However, little attention was given to combining global path planning with local path planning. Design/methodology/approach – A search of shortcut Dijkstra algorithm was used to control the USV in the global path planning. When the USV encounters unknown obstacles, it switches to our modified artificial potential field (APF) algorithm for local path planning. The combinatorial method improves the approach of USV path planning in complex environment. Findings – The method in this paper offers a solution to the issue of path planning in changeable or unchangeable environment, and was confirmed by simulations and experiments. The USV follows the global path based on the search of shortcut Dijkstra algorithm. Both USV achieves obstacle avoidances in the local region based on the modified APF algorithm after obstacle detection. Both the simulation and experimental results demonstrate that the combinatorial path planning method is more efficient in the complex environment. Originality/value – This paper proposes a new path planning method for USV in changeable environment. The proposed method is capable of efficient navigation in changeable and unchangeable environment.

scholarly journals Path Planning for Automatic Guided Vehicles (AGVs) Fusing MH-RRT with Improved TEB

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 314
Author(s):  
Jiayi Wang ◽  
Yonghu Luo ◽  
Xiaojun Tan
Keyword(s):  
Path Planning ◽  
Dynamic Environments ◽  
Receding Horizon ◽  
Elastic Band ◽  
Automatic Guided Vehicles ◽  
Planning Procedure ◽  
Local Path ◽  
Horizon Planning ◽  
State Tree ◽  
Short Time

In this paper, an AGV path planning method fusing multiple heuristics rapidly exploring random tree (MH-RRT) with an improved two-step Timed Elastic Band (TEB) is proposed. The modified RRT integrating multiple heuristics can search a safer, optimal and faster converge global path within a short time, and the improved TEB can optimize both path smoothness and path length. The method is composed of a global path planning procedure and a local path planning procedure, and the Receding Horizon Planning (RHP) strategy is adopted to fuse these two modules. Firstly, the MH-RRT is utilized to generate a state tree structure as prior knowledge, as well as the global path. Then, a receding horizon window is established to select the local goal point. On this basis, an improved two-step TEB is designed to optimize the local path if the current global path is feasible. Various simulations both on static and dynamic environments are conducted to clarify the performance of the proposed MH-RRT and the improved two-step TEB. Furthermore, real applicative experiments verified the effectiveness of the proposed approach.

Sign in / Sign up

Export Citation Format

Share Document