TWO-STAGE ALGORITHM FOR PATH PLANNING PROBLEM WITH OBSTACLE AVOIDANCE

2009 ◽  
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Planning Problem ◽  
Two Stage ◽  
Path Planning Problem

scholarly journals Decentralized Path Planning for Multi-Objective Robot Swarm System

2021 ◽  
Vol 2113 (1) ◽  
pp. 012002
Author(s):  
Zhuokai Wu
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Heuristic Algorithms ◽  
Optimization Problems ◽  
Planning Problem ◽  
Robot Swarm ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Path Planning Problem ◽  
Multi Robot

Abstract The multi-robot path planning aims to explore a set of non-colliding paths with the shortest sum of lengths for multiple robots. The most popular approach is to artificially decompose the map into discrete small grids before applying heuristic algorithms. To solve the path planning in continuous environments, we propose a decentralized two-stage algorithm to solve the path-planning problem, where the obstacle and inter-robot collisions are both considered. In the first stage, an obstacle- avoidance path-planning problem is mathematically developed by minimizing the travel length of each robot. Specifically, the obstacle-avoidance trajectories are generated by approximating the obstacles as convex-concave constraints. In the second stage, with the given trajectories, we formulate a quadratic programming (QP) problem for velocity control using the control barrier and Lyapunov function (CBF-CLF). In this way, the multi-robot collision avoidance as well as time efficiency are satisfied by adapting the velocities of robots. In sharp contrast to the conventional heuristic methods, path length, smoothness and safety are fully considered by mathematically formulating the optimization problems in continuous environments. Extensive experiments as well as computer simulations are conducted to validate the effectiveness of the proposed path-planning algorithm.

scholarly journals Reliability oriented multi-AGVs online scheduling and path planning problem of automated sorting warehouse system

2021 ◽  
Vol 1043 (2) ◽  
pp. 022035
Author(s):  
N N Yu ◽  
T K Li ◽  
B L Wang ◽  
S P Yuan ◽  
Y Wang
Keyword(s):  
Path Planning ◽  
Online Scheduling ◽  
Planning Problem ◽  
Path Planning Problem

Solving the multi-objective path planning problem in mobile robotics with a firefly-based approach

2015 ◽  
Vol 21 (4) ◽  
pp. 949-964 ◽  
Author(s):  
Alejandro Hidalgo-Paniagua ◽  
Miguel A. Vega-Rodríguez ◽  
Joaquín Ferruz ◽  
Nieves Pavón
Keyword(s):  
Path Planning ◽  
Mobile Robotics ◽  
Planning Problem ◽  
Multi Objective ◽  
Path Planning Problem

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.

Path Planning for Spheres in Three Dimensional Environments With Low Interference Index

1994 ◽  
Author(s):  
Duane W. Storti ◽  
Debasish Dutta
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Configuration Space ◽  
Local Knowledge ◽  
Three Dimensional ◽  
Target Point ◽  
Planning Problem ◽  
Spherical Object ◽  
Starting Point ◽  
Path Planning Problem

Abstract We consider the path planning problem for a spherical object moving through a three-dimensional environment composed of spherical obstacles. Given a starting point and a terminal or target point, we wish to determine a collision free path from start to target for the moving sphere. We define an interference index to count the number of configuration space obstacles whose surfaces interfere simultaneously. In this paper, we present algorithms for navigating the sphere when the interference index is ≤ 2. While a global calculation is necessary to characterize the environment as a whole, only local knowledge is needed for path construction.

ON THE PATH PLANNING PROBLEM IN THE VICINITY OF OBSTACLES

1998 ◽  
Vol 29 (8) ◽  
pp. 807-868 ◽  
Author(s):  
ALBERT Y. ZOMAYA MATT R. WRIGHT TAR
Keyword(s):  
Path Planning ◽  
Planning Problem ◽  
Path Planning Problem

scholarly journals Experimental study of path planning problem using EMCOA for a holonomic mobile robot

2021 ◽  
Vol 32 (6) ◽  
pp. 1450-1462
Author(s):  
Mohseni Alireza ◽  
Duchaine Vincent ◽  
Wong Tony
Keyword(s):  
Experimental Study ◽  
Path Planning ◽  
Mobile Robot ◽  
Planning Problem ◽  
Holonomic Mobile Robot ◽  
Path Planning Problem

Some Theory and Algorithms Pertaining to Machinability and Visibility

Manufacturing ◽  
2002 ◽  
Author(s):  
Mahadevan Balasubramaniam ◽  
Taejung Kim ◽  
Sanjay Sarma
Keyword(s):  
Path Planning ◽  
Tool Path ◽  
Cutting Tool ◽  
Machining Process ◽  
Planning Problem ◽  
Topological Connectivity ◽  
Almost All ◽  
Feasible Space ◽  
Path Planning Problem ◽  
Theoretical Results

In previous work, we and others have developed visibility-based tool path generation schemes. Almost all previous research implicitly assumes that all visible parts are machinable. Though usually true practice, this assumption hides several subtleties inherent to the geometry of the machining process. Here, we define machinability in a stricter sense, as a generalization of the robotic path planning problem. Then, we define various “tight” necessary conditions for strict machinability, and show the connections between these conditions. After demonstrating the richness of the information contained in visibility, we show how to compute visibility effectively. Visible directions constitute an approximate feasible configuration space of a cutting tool. We also address questions pertaining to the topological connectivity of the feasible space. The theoretical results of this paper lay down a firmer foundation of machining path planning.

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