Non holonomic shortest robot path planning in a dynamic environment using polygonal obstacles (original) (raw)

A Shortest Path Based Path Planning Algorithm for Nonholonomic Mobile Robots

Journal of Intelligent and Robotic Systems - JIRS, 1999

A path planning algorithm for a mobile robot subject to nonholonomic constraints is presented. The algorithmemploys a global- local strategy, and solves the problem in the 2D workspace of the robot, without generating the complexconfiguration space. Firstly, a visibility graph is constructed for finding a collision-free shortest path for a point. Secondly,the path for a point is evaluated to find whether it can be used as a reference to build up a feasible path for the mobile robot.If not, this path is discarded and the next shortest path is selected and evaluated until a right reference path is found. Thirdly,robot configurations are placed along the selected path in the way that the robot can move from one configuration to the nextavoiding obstacles. Lemmas are introduced to ensure that the robot travels using direct, indirect or reversal manoeuvres. Thealgorithm is computationally efficient and runs in time O(nk + n log n) for k obstacles andn vertices. The path found is near opt...

An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents

Iraqi Journal for Electrical And Electronic Engineering

In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance.

Real-time obstacle avoidance for polygonal robots with a reduced dynamic window

2002

In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decomposes the task into a model stage and a planning stage. The model stage accounts for robot shape and dynamics using a reduced dynamic window. The planning stage produces collision-free local paths with a velocity profile. We present an analytical solution to the distance to collision problem for polygonal robots, avoiding thus the use of look-up tables. The approach has been tested in simulation and on two non-holonomic rectangular robots where a cycle time of 10 Hz was reached under full CPU load. During a longterm experiment over 5 km travel distance, the method demonstrated its practicability. 3050 0-7803-7272-7/02/$17.00

Real-Time Obstacle-Avoiding Path Planning for Mobile Robots

AIAA Guidance, Navigation, and Control Conference, 2010

In this paper a computationally effective trajectory generation algorithm of mobile robots is proposed. The algorithm plans a reference path based on Voronoi diagram and Bézier curves, that meet obstacle avoidance criteria. Bézier curves defining the path are created such that the circumference convex polygon of their control points miss all obstacles. To give smoothness, they are connected under C 1 continuity constraint. In addition, the first Bézier curve is created to satisfy the initial heading constraint and to minimize the maximum curvature of the curve. For the mission, this paper analyzes the algebraic condition of control points of a quadratic Bézier curve to minimize the maximum curvature. The numerical simulations demonstrate smooth trajectory generation with satisfaction of obstacle avoidance in an unknown environment by applying the proposed algorithm in a receding horizon fashion.

Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape

IEEE Transactions on Robotics, 2000

This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem.

Navigation of Mobile Robot in the Presence of Static Obstacles of Various Shapes

The main objective of path planning is to acquire a collision free path for a mobile robot operating in various environments. Diverse approaches and techniques have been implemented to solve a path planning problem by considering certain factors like obstacle shape, its orientation, type of environment etc. Based on the surrounding environment the robot navigates globally or locally. This paper focuses on the navigation of mobile robot operating in a static environment consisting of elliptical and polygonal obstacles. A mathematical formulation has been developed to obtain these paths and also to find the shortest path among them using Centre of Gravity Approach (CGA) and Coordinate Reference Frame (CRF) technique. The simulation results prove the proposed approach to be effective as the robot navigates to the defined target point without colliding with the obstacles in the environment.

A PATH PLANNING STRATEGY FOR OBSTACLE AVOIDANCE

This paper presents an obstacle avoidance module dedicated to non-holonomic wheeled mobile robots. Chained system theory and deformable virtual zone principle are coupled to design an original framework based on path following formalism. The proposed strategy allows to correct the control output provided by a navigation module to preserve the robot security while assuring the navigation task. First, local paths and control inputs are derived from the interaction between virtual zones surrounding the robot and obstacles to efficiently prevent from collisions. The resulting control inputs and the ones provided by the navigation module are then adequately merged to ensure the success of the navigation task. Experimental results using a cart-like mobile robot equipped with a sonar sensors belt confirm the relevance of the approach.

Minimal Construct: Efficient Shortest Path Finding for Mobile Robots in Polygonal Maps

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

With the advent of polygonal maps finding their way into the navigational software of mobile robots, the Visibility Graph can be used to search for the shortest collisionfree path. The nature of the Visibility Graph-based shortest path algorithms is such that first the entire graph is computed in a relatively time-consuming manner. Then, the graph can be searched efficiently any number of times for varying start and target state combinations with the A* or the Dijkstra algorithm. However, real-world environments are typically too dynamic for a map to remain valid for a long time. With the goal of obtaining the shortest path quickly in an ever changing environment, we introduce a rapid path finding algorithm-Minimal Construct-that discovers only a necessary portion of the Visibility Graph around the obstacles that actually get in the way. Collision tests are computed during an A* search only for lines that seem heuristically promising. This way, shortest paths can be found much faster than with a state-of-the-art Visibility Graph algorithm and as our experiments show, even grid-based A* searches are outperformed in most cases with the added benefit of smoother and shorter paths.

Computationally Efficient Path Planning for Wheeled Mobile Robots in Obstacle Dense Environments

Lecture Notes in Control and Information Sciences, 2007

This paper considers the problem of nonholonomic motion planning for wheeled mobile robots with limited sensing capabilities. A simple yet efficient path planning algorithm is developed, which combines a virtual front steering mechanism with an easy to implement obstacle avoidance method generating smooth motion profiles. Extensions are presented for improved navigation in environments with ushaped concave barriers or tunnels, which are considered as difficult conditions for most planners in the literature. Our approach is computationally efficient, easy to implement and is suitable for robots with entry level equipment. Feasibility and effectiveness of the proposed method is illustrated by numerous simulations.