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A local path planning algorithm under the variable planning size
2016 9th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI), 2016The research in the field of the localization and navigation of mobile robot is becoming more and more significant. Among them, the local real-time path planning for robot autonomous navigation in complex environment is particularly important. However, the current local path planning algorithms are all planning the local path in the same plan-scope ...
Teng Wan, Ce Li 0001, Yachao Zhang 0001
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Integrated local path planning method
SPIE Proceedings, 2007We describe an integrated local path planning method whereby a particle filter is used for computation of the steering direction based on the Vector Field Histogram. In the original VFH, a typical polar histogram contains peaks (i.e., sectors) with a high polar obstacle density (POD) and valleys (i.e., sectors) that contain low polar obstacle density.
HwangRyol Ryu, KiSung You, ChinTae Choi
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How Rough Is the Path? Terrain Traversability Estimation for Local and Global Path Planning
IEEE Transactions on Intelligent Transportation Systems, 2022Perception and interpretation of the terrain is essential for robot navigation, particularly in off-road areas, where terrain characteristics can be highly variable. When planning a path, features such as the terrain gradient and roughness should be considered, and they can jointly represent the traversability cost of the terrain. Despite this range of
Gabriel Günter Waibel +5 more
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Locally Homotopic Paths: Ensuring Consistent Paths in Hierarchical Path Planning
IEEE Robotics and Automation LettersWe consider a local planner that utilizes model predictive control to locally deviate from a prescribed global path in response to dynamic environments, taking into account the system dynamics. To ensure the consistency between the local and global paths, we introduce the concept of locally homotopic paths for paths with different origins and ...
Tichakorn Wongpiromsarn +2 more
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Local Path Planning for Autonomous Vehicles: Crash Mitigation
2018 IEEE Intelligent Vehicles Symposium (IV), 2018A path planning approach to generate a path which mitigates the effects of an inevitable crash for autonomous vehicles is presented in this brief. The model predictive control algorithm is adopted here for path planning. The artificial potential field, which describes the obstacles and the potential crash severity, are added to the control objectives ...
Hong Wang 0014 +5 more
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Coordinated Path Planning through Local Search and Simulated Annealing
ACM Journal of Experimental Algorithmics, 2022The third computational geometry challenge was on a coordinated path planning problem in which a collection of square robots need to move on the integer grid, from their given starting points to their target points, and without collision between robots, or between robots and a set of input obstacles.
Hyeyun Yang, Antoine Vigneron
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Optimal Path Planning for Information Based Localization
2014This paper addresses the problem of optimizing the navigation of an intelligent mobile in a real world environment, described by a map. The map is composed of features representing natural landmarks in the environment. The vehicle is equipped with a sensor which implies range and bearing measurements from observed landmarks.
Céleste, Francis +1 more
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Local Multiresolution Path Planning
2004Grid-based methods for finding cost optimal robot paths around obstacles are popular because of their flexibility and simple implementation. However, their computational complexity becomes unfeasible for real-time path planning if the resolution of the grid is high.
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Local Path Planning And Motion Control For Agv In Positioning
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications, 2005Local-path-planning-method has been proposed for positioning autonomous guided vehicles ( AGVs). This method minimizes the cost function to constrain AGV's sudden accel- eration change (jerk). The method allows AGVs to malie the velocity and the curvature of the local path continuous, so that AGVs can smoothly travcl along the path.
Arata Takahashi +3 more
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UAV Path Planning for Passive Emitter Localization
IEEE Transactions on Aerospace and Electronic Systems, 2012A path planning algorithm is presented for uninhabited aerial vehicles (UAVs) trying to geolocate an emitter using passive payload sensors. The objective is to generate a sequence of waypoints for each vehicle that minimizes localization uncertainty.
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