Download or read book Collision Free Path Planning Algorithms for Robot Navigation Problem written by Kyung Min Han and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Path planning problem, including maze navigation is a challenging topic in robotics. Indeed, a significant amount of research has been devoted to this problem in recent years. Genetic algorithm is a popular approach that searches for an optimal solution in given set of solutions. Considering via points as genes in a chromosome will provide a number of possible solutions on a grid map of paths. In this case, path distances that each chromosome creates can be regarded as a fitness measure for the corresponding chromosome. In some cases, a solution path passes through an obstacle. Assuming that the shape of an obstacle is a circle, such random solutions can easily be eliminated by setting-up simple equation between a line created by two via points and the obstacle. The ant colony optimization algorithm is another approach to solve this problem. Each ant drops a quantity of artificial pheromone on every point that the ant passes through. This pheromone simply changes the probability that the next ant becomes attracted to a particular grid point. Since each ant will make a decision at every grid point that it encounters, it is possible that an ant may wander around the grid map or may become stuck among local grid points. In order to prevent this phenomena the proposed solution adapted a global attraction term which guides ants to head toward the destination point. This thesis addresses methods of the path finding problem using these two different approaches. Both algorithms are tested and compared in the result section. The experiment results demonstrate that these two methods have a great potential to solve the proposed problem.

Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Download or read book A Three dimensional Collision free Robot Path Planning Algorithm Using Network Optimization Approach written by Piyush Kumar Jain and published by . This book was released on 1989 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.

Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.

Download or read book Advanced Path Planning for Mobile Entities written by Rastislav Róka and published by BoD – Books on Demand. This book was released on 2018-09-26 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book Advanced Path Planning for Mobile Entities provides a platform for practicing researchers, academics, PhD students, and other scientists to design, analyze, evaluate, process, and implement diversiform issues of path planning, including algorithms for multipath and mobile planning and path planning for mobile robots. The nine chapters of the book demonstrate capabilities of advanced path planning for mobile entities to solve scientific and engineering problems with varied degree of complexity.

Download or read book Hybrid Artificial Intelligent Systems written by Emilio Corchado and published by Springer Science & Business Media. This book was released on 2011-05-16 with total page 499 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two LNAI volumes 6678 and 6679 constitute the proceedings of the 6th International Conference on Hybrid Artificial Intelligent Systems, HAIS 2011, held in Wroclaw, Poland, in May 2011. The 114 papers published in these proceedings were carefully reviewed and selected from 241 submissions. They are organized in topical sessions on hybrid intelligence systems on logistics and intelligent optimization; metaheuristics for combinatorial optimization and modelling complex systems; hybrid systems for context-based information fusion; methods of classifier fusion; intelligent systems for data mining and applications; systems, man, and cybernetics; hybrid artificial intelligence systems in management of production systems; habrid artificial intelligent systems for medical applications; and hybrid intelligent approaches in cooperative multi-robot systems.

Download or read book STUDY ON COOPERATIVE COLLISION FREE LOCAL PATH PLANNING FOR WHEELED MOBILE ROBOTS written by and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract : Path planning forms the fundamental requirement to facilitate autonomous navigation in Autonomous Vehicles (AVs). Ensuring a cost-efficient, safe, and collision-free path has been the primary objective of most research concerned with path planning. Path planning is accomplished at two levels: global and local. While global path planning can provide reasonable obstacle avoidance in static environments, local path planning or reactive control is better suited to dynamic and fast-changing environments. Integration of the two techniques is also employed to account for either's shortcomings and, hence, enhance the collision avoidance capability and optimal trajectory generation. However, in complex scenarios like constricted spaces or close encounters between agents, even the integrated approaches fail, resulting in a collision or a deadlock. Hence, it necessitates employing cooperative collision avoidance techniques to address these issues and ensure successful, collision-free navigation for AVs. This research's primary objective is to explore a potential solution to enable a cooperative collision avoidance mechanism for autonomous navigation of wheeled mobile robots in a constricted multi-robot environment. This work presents an overview of the current path planners and discusses their limitations. This work studies and explores the capabilities of employing the classic Elastic Band Methods(EBM) path planning technique and Model Predictive Control(MPC) trajectory optimization technique in conjunction to explore the possible cooperative collision avoidance capabilities. Integrating the two and extending the approach to 3D environments forms the basis for our future work.

Download or read book Safe Robot Navigation Among Moving and Steady Obstacles written by Andrey V. Savkin and published by Butterworth-Heinemann. This book was released on 2015-09-25 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. - First book on collision free reactive robot navigation in unknown dynamic environments - Bridges the gap between mathematical model and practical algorithms - Presents implementable and computationally efficient algorithms of robot navigation - Includes mathematically rigorous proofs of their convergence - A detailed review of existing reactive navigation algorithm for obstacle avoidance - Describes fundamentals of sliding mode control

Download or read book Optimal Navigation of Autonomous Vehicles written by Ibrahim Mohammed and published by . This book was released on 2016 with total page 54 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is very important for an autonomous mobile vehicle to navigate properly without any collision or unsafe conditions in its environment. Mobile robot navigation is a very important exercise in all robotic application from a domestic household cleaner to highly dangerous life threatening situations like bomb diffusing and nuclear decommissioning. Path planning is the main issue related to navigation. Path planning in mobile robots must ensure the optimal path with least cost and collision free path. The standard A* algorithm is capable of finding the shortest path. Modified A* path planning algorithm takes into consideration the robot size and safe diagonal movement of autonomous vehicle. In this thesis, a known model of Autonomous Control Engineering (ACE) lab is made to test the A* and modified A* path planning algorithm. An algorithm to reduce the search process approximately into half by leaving a node and searching for the end result with the successor node is proposed. The outcome of this thesis is a comparison between the three algorithms mentioned above with taking into consideration the search steps, expanded nodes and cost. To test the planning algorithms in real time TurtleBot 2 is used.

Download or read book A Path Planning and Obstacle Avoidance Algorithm for an Autonomous Robotic Vehicle written by Sharayu Yogesh Ghangrekar and published by . This book was released on 2009 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path planning in robotics is concerned with developing the logic for navigation of a robot. Path planning still has a long way to go considering its deep impact on any robot's functionality. Various path planning techniques have been tried and tested earlier, including probabilistic, integral and genetic approaches. The implementation details of most of these algorithms are proprietary to specific organizations. The requirement of a customized strategy for collision free and concerted navigation of an All-Terrain Vehicle (ATV) led to the activities of this research. As a part of this research an algorithm has been developed and simulated to give a visual effect. The algorithm presented is evolutionary and capable of path planning for ATVs in the presence of completely known and newly-discovered obstacles. This algorithm helps the ATV to maneuver in an open field in a specific pattern and avoid the obstacles, if any, along its path. As part of the research the actual algorithm is implemented and simulated using C and WIN API. As a result, given the data of known obstacles and the field, the ATV can maneuver in a systematic and optimum manner towards its goal by avoiding all the obstacles in its path. This algorithm can also be deployed on an ATV using real time data from LIDAR and GPS. The logic of the algorithm can be extended for path planning in a completely dynamic environment.

Download or read book Real time Motion Planning and Safe Navigation in Dynamic Multi robot Environments written by James Robert Bruce and published by . This book was released on 2006 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: All mobile robots share the need to navigate, creating the problem of motion planning. In multi-robot domains with agents acting in parallel, highly complex and unpredictable dynamics can arise. This leads to the need for navigation calculations to be carried out within tight time constraints, so that they can be applied before the dynamics of the environment make the calculated answer obsolete. At the same time, we want the robots to navigate robustly and operate safely without collisions. While motion planning has been used for high level robot navigation, or limited to semi-static or single-robot domains, it has often been dismissed for the real-time low-level control of agents due to the limited computational time and the unpredictable dynamics. Many robots now rely on local reactive methods for immediate control of the robot, but if the reason for avoiding motion planning is execution speed, the answer is to find planners that can meet this requirement. Recent advances in traditional path planning algorithms may offer hope in resolving this type of scalability, if they can be adapted to deal with the specific problems and constraints mobile robots face. Also, in order to maintain safety, new scalable methods for maintaining collision avoidance among multiple robots are needed in order to free motion planners from the "curse of dimensionality" when considering the safety of multiple robots with realistic physical dynamics constraints. This thesis contributes the pairing of real-time motion planning which builds on existing modern path planners, and a novel cooperative dynamics safety algorithm for high speed navigation of multiple agents in dynamic domains. It also explores near real-time kinematically limited motion planning for more complex environments. The thesis algorithms have been fully implemented and tested with success on multiple real robot platforms.

Download or read book Handbook On Computational Intelligence In 2 Volumes written by Plamen Parvanov Angelov and published by World Scientific. This book was released on 2016-03-18 with total page 964 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the Internet, the proliferation of Big Data, and autonomous systems, mankind has entered into an era of 'digital obesity'. In this century, computational intelligence, such as thinking machines, have been brought forth to process complex human problems in a wide scope of areas — from social sciences, economics and biology, medicine and social networks, to cyber security.The Handbook of Computational Intelligence (in two volumes) prompts readers to look at these problems from a non-traditional angle. It takes a step by step approach, supported by case studies, to explore the issues that have arisen in the process. The Handbook covers many classic paradigms, as well as recent achievements and future promising developments to solve some of these very complex problems. Volume one explores the subjects of fuzzy logic and systems, artificial neural networks, and learning systems. Volume two delves into evolutionary computation, hybrid systems, as well as the applications of computational intelligence in decision making, the process industry, robotics, and autonomous systems.This work is a 'one-stop-shop' for beginners, as well as an inspirational source for more advanced researchers. It is a useful resource for lecturers and learners alike.

Download or read book Mobile Robots Navigation written by Alejandra Barrera and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.

Download or read book Recent Advances in Robot Path Planning Algorithms a Review of Theory and Experiment written by Hadi Jahanshahi and published by . This book was released on 2020-03-23 with total page 135 pages. Available in PDF, EPUB and Kindle. Book excerpt: The dominant theme of this book is to introduce the different path planning methods and present some of the most appropriate ones for robotic routing; methods that are capable of running on a variety of robots and are resistant to disturbances; being real-time, being autonomous, and the ability to identify high risk areas and risk management are the other features that will be mentioned in the introduction of the methods. The introduction of the profound significance of the robots and delineation of the navigation and routing theme is provided in the first chapter of the book. The second chapter is concerned with the subject of routing in unknown environments. In the first part of this chapter, the family of bug algorithms including are described. In the following, several conventional methods are submitted. The last part of this chapter is dedicated to the introduction of two recently developed routing methods. In Chapter 3, routing is reviewed in the known environment in which the robot either utilizes the created maps by extraneous sources or makes use of the sensor in order to prepare the maps from the local environment. The robot path planning relying on the robot vision sensors and applicable computing hardware are concentrated in the fourth chapter. The first part of this chapter deals with routing methods supported mapping capabilities. The second part manages the routing dependent on vision sensor typically known as the best sensor within the routing subject. The movement of two-dimensional robots with two or three degrees of freedom is analyzed within the third part of this chapter. In Chapter 5, the performance of a few of the foremost important routing methods initiating from the second to fourth chapters is conferred regarding the implementation in various environments. The first part of this chapter is engaged in the implementation of the algorithms Bug1, Bug2, and Distbug on the pioneering robot. In the second part, a theoretical technique is planned to boost the robot's performance in line with obstacle collision avoidance. This method, underlying the tangential escape, seeks to proceed the robot through various obstacles with curved corners. In the third and fourth parts of this chapter, path planning in different environments is preceded in the absence and the presence of danger space. Accordingly, four approaches, named artificial fuzzy potential field, linguistic technique, Markov decision making processes, and fuzzy Markov decision making have been proposed in two following parts and enforced on the Nao humanoid robot.

Download or read book Spatio temporal Probabilistic Path Planning for Autonomous Robot Navigation written by Om Krishna Gupta and published by . This book was released on 2011 with total page 372 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, robotic technology has improved significantly, aided by cutting-edge scientific research studies and innovative industrial designs. It has taken a progressive leap from the coordinated world of industry to the less-ordered domestic domain with great advancements in sensor technology and computational intelligence. It is beginning to prove more useful than a robot vacuum cleaner or a mere plaything in human-centric spaces. This has created an imminent need for robust intelligence for a robot to move optimally with high efficiency and collision-free navigation. This research provides valuable insights into all significant stages required for autonomous navigation in dynamic cluttered environments and makes several important contributions in the area.A unique and real-time method for global path planning and collision avoidance for navigation of a mobile robot in complex time varying environments is developed. An occupancy-based three dimensional (3D) grid map and model-based obstacle prediction are employed to represent the dynamic environment. Path planning and obstacle avoidance are performed by applying a cost-evaluation function on time-space Distance Transforms to uniquely produce the optimal path at the time of planning. Dealing with uncertainty with regard to the position of obstacles for a given navigation task is accommodated by introducing the notion of probabilities to the algorithm. The spatio-temporal cost evaluation based path planning algorithm provides the key contribution of this research.A robust method of pose estimation and tracking for a mobile robot is also investigated. The technique utilises an overhead panoramic vision camera in an indoor cluttered environment with the robot workspace of a two-dimensional planar surface. It is fast and does not require any unwarping of the panoramic view. A unique system, combining mean-shift, Kalman Filter and Hough Transform-based tracking, is used to improve the result. Experiments are conducted confirming that the system is capable of reliably localising and tracking the robot in cluttered scenes with variations of illumination and periods of occlusion.The thesis commences by describing the design of a real-time open-source 3D simulation platform based on a game engine. The platform is primarily aimed towards research in mobile robotics, in-game character manipulation, visual surveillance-related research and high quality synthetic video generation. It provided the initial test-bed for this research to analyse ideas and algorithms including path planning, prior to the physical realisation experiments.Finally, a complete navigation system is integrated for a wheel-based mobile robot verifying the innovations in a real-world scenario. The system will be incorporated into a larger project that is aimed towards the enhancement of robotic assistive technologies for elderly and disabled people.