A Path Planning Algorithm Based on the CNN Model under the Curvature Constraint

2014 ◽  
Vol 989-994 ◽  
pp. 1621-1625
Author(s):  
Shu Jun Wang ◽  
Xiao Nian Wang ◽  
Ping Jiang
Keyword(s):  
Path Planning ◽  
Dimensional Space ◽  
Dynamic Environment ◽  
Planning Problem ◽  
Path Control ◽  
Curvature Constraint ◽  
Simulation Based ◽  
Planning Algorithm ◽  
The Stability ◽  
Path Planning Algorithm

This paper proposes a new path planning algorithm based on the CNN model. The path planning problem is completed with the dynamics of CNN by establishing a relationship between path control points and CNN cells. Based on the analysis of one dimensional space of CNN algorithm, a CNN equation is constructed and the path updating algorithm under the curvature constraint is obtained, then the stability of the algorithm is discussed. Path planning simulation based on two-dimensional space shows that this algorithm can avoid re-planning or falling into the local minimum, which means it can be successfully used in the path planning and maintenance of robots on the ground in dynamic environment.

Research on pull-type multi-AGV system dynamic path optimization based on time window

2021 ◽  
pp. 095440702098271
Author(s):  
Hongying Shan ◽  
Chuang Wang ◽  
Cungang Zou ◽  
Mengyao Qin
Keyword(s):  
Path Planning ◽  
Time Window ◽  
Planning Problem ◽  
Dijkstra Algorithm ◽  
Before And After ◽  
Common Planning ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Set Up ◽  
Path Planning Algorithm

This paper is a study of the dynamic path planning problem of the pull-type multiple Automated Guided Vehicle (multi-AGV) complex system. First, based on research status at home and abroad, the conflict types, common planning algorithms, and task scheduling methods of different AGV complex systems are compared and analyzed. After comparing the different algorithms, the Dijkstra algorithm was selected as the path planning algorithm. Secondly, a mathematical model is set up for the shortest path of the total driving path, and a general algorithm for multi-AGV collision-free path planning based on a time window is proposed. After a thorough study of the shortcomings of traditional single-car planning and conflict resolution algorithms, a time window improvement algorithm for the planning path and the solution of the path conflict covariance is established. Experiments on VC++ software showed that the improved algorithm reduces the time of path planning and improves the punctual delivery rate of tasks. Finally, the algorithm is applied to material distribution in the OSIS workshop of a C enterprise company. It can be determined that the method is feasible in the actual production and has a certain application value by the improvement of the data before and after the comparison.

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Ümit Yerlikaya ◽  
R.Tuna Balkan
Keyword(s):  
Path Planning ◽  
Extreme Environment ◽  
Configuration Spaces ◽  
Planning Problem ◽  
Different Types ◽  
Planning Algorithm ◽  
Line Path ◽  
Path Planning Algorithm ◽  
Path Planning Problem ◽  
System Operating

Abstract Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

A Bidirectional Quintuple Tree Node Expansion Algorithm for UAV Path Planning in Dynamic Environment

2013 ◽  
Vol 765-767 ◽  
pp. 413-416
Author(s):  
Jian Hong Gong ◽  
Bo Li ◽  
Xiao Guang Gao
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Dynamic Environment ◽  
Security Issues ◽  
Tree Node ◽  
Search Mechanism ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Optimization Search ◽  
Uav Security

To deal with the problem of penetration trajectory planning for UAV security issues, an improved bidirectional quintuple tree node expansion algorithm is proposed. Compare to traditional quintuple tree node expansion algorithm, the proposed algorithm could reduce the number of the expanded tree node, and it makes the bidirectional quintuple tree node expansion algorithm more efficient in path planning. By combining the bidirectional quintuple tree node expansion algorithm with multi-step optimization search mechanism, a kind of real-time UAV path planning algorithm is presented.

scholarly journals A Path Planning Algorithm for a Dynamic Environment Based on Proper Generalized Decomposition

Mathematics ◽  
2020 ◽  
Vol 8 (12) ◽  
pp. 2245
Author(s):  
Antonio Falcó ◽  
Lucía Hilario ◽  
Nicolás Montés ◽  
Marta C. Mora ◽  
Enrique Nadal
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real Time ◽  
Potential Field ◽  
Dynamic Environment ◽  
Artificial Potential Field ◽  
Proper Generalized Decomposition ◽  
Partial Differential ◽  
Planning Algorithm ◽  
Path Planning Algorithm

A necessity in the design of a path planning algorithm is to account for the environment. If the movement of the mobile robot is through a dynamic environment, the algorithm needs to include the main constraint: real-time collision avoidance. This kind of problem has been studied by different researchers suggesting different techniques to solve the problem of how to design a trajectory of a mobile robot avoiding collisions with dynamic obstacles. One of these algorithms is the artificial potential field (APF), proposed by O. Khatib in 1986, where a set of an artificial potential field is generated to attract the mobile robot to the goal and to repel the obstacles. This is one of the best options to obtain the trajectory of a mobile robot in real-time (RT). However, the main disadvantage is the presence of deadlocks. The mobile robot can be trapped in one of the local minima. In 1988, J.F. Canny suggested an alternative solution using harmonic functions satisfying the Laplace partial differential equation. When this article appeared, it was nearly impossible to apply this algorithm to RT applications. Years later a novel technique called proper generalized decomposition (PGD) appeared to solve partial differential equations, including parameters, the main appeal being that the solution is obtained once in life, including all the possible parameters. Our previous work, published in 2018, was the first approach to study the possibility of applying the PGD to designing a path planning alternative to the algorithms that nowadays exist. The target of this work is to improve our first approach while including dynamic obstacles as extra parameters.

AN EFFICIENT GRAPH THEORY-BASED ALGORITHM FOR SHIP TRAJECTORY PLANNING

2021 ◽  
Vol 161 (A2) ◽  
Author(s):  
A Lazarowska
Keyword(s):  
Graph Theory ◽  
Path Planning ◽  
Motion Control ◽  
Dynamic Environment ◽  
Computational Time ◽  
Optimization Approach ◽  
Application Area ◽  
A Algorithm ◽  
Planning Algorithm ◽  
Path Planning Algorithm

The research presented in this paper is dedicated to the development of a path planning algorithm for a moving object in a dynamic environment. The marine environment constitutes the application area. A graph theory-based path planning method for ships is introduced and supported by the results of simulation tests and comparative analysis with a heuristic Ant Colony Optimization approach. The method defines the environment with the use of a visibility graph and uses the A* algorithm to find the shortest, collision-free path. The main contribution is the development of an effective graph theory-based algorithm for path planning in an environment with static and dynamic obstacles. The computational time does not exceed a few seconds. Obtained results allow to state that the method is suitable for use in an intelligent motion control system for ships.

A genetic path planning algorithm for redundant articulated robots

Robotica ◽  
1997 ◽  
Vol 15 (2) ◽  
pp. 213-224 ◽  
Author(s):  
Andreas C. Nearchou ◽  
Nikos A. Aspragathos
Keyword(s):  
Path Planning ◽  
Degrees Of Freedom ◽  
Target Location ◽  
Planning Problem ◽  
Worst Case ◽  
Pick And Place ◽  
Planning Algorithm ◽  
A New Technique ◽  
Articulated Robots ◽  
Path Planning Algorithm

In some daily tasks, such as pick and place, the robot is requested to reach with its hand tip a desired target location while it is operating in its environment. Such tasks become more complex in environments cluttered with obstacles, since the constraint for collision-free movement must be also taken into account. This paper presents a new technique based on genetic algorithms (GAs) to solve the path planning problem of articulated redundant robot manipulators. The efficiency of the proposed GA is demonstrated through multiple experiments carried out on several robots with redundant degrees-of-freedom. Finally, the computational complexity of the proposed solution is estimated, in the worst case.

Sign in / Sign up

Export Citation Format

Share Document