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Path planning with local information
1988We consider the problem of path-planning for a point mobile automaton in the presence of unknown obstacles in a two dimensional space. We present an algorithm which has better worst case complexity than that of Lumelsky and Stepanov [4], which is the best known at present.
Amitava Datta, Kamala Krithivasan
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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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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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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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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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Multiobjective Path Planning: Localization Constraints and Collision Probability
IEEE Transactions on Robotics, 2015We present a novel path planning algorithm that, starting from a probabilistic roadmap, efficiently constructs a product graph used to search for a near optimal solution of a multiobjective optimization problem. The goal is to find paths that minimize a primary cost, such as the path length from start to goal, subject to a bound on a secondary cost ...
Shaunak D. Bopardikar +2 more
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Multiresolution path planning with wavelets: A local replanning approach
2008 American Control Conference, 2008A path planning algorithm based on multiresolution cell decomposition of the environment using wavelets is proposed. The environment is assumed to be given by an occupancy grid at fine resolution. The algorithm constructs a cell decomposition at several levels of resolution (cell sizes) and constructs an optimal path to the destination from the current
Cowlagi, Raghvendra V. +1 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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Sliding Local Planners for Sampling-Based Path Planning
2017 First IEEE International Conference on Robotic Computing (IRC), 2017Sampling-based path planning algorithms based on straight-line local planners, even in combination with advanced sampling strategies, occasionally perform poorly when a rigid robot needs to pass through narrow passages in the C-space. In order for a rigid robot to effectively navigate C-space narrow passages, we present two simple sliding local ...
S. M. Rayhan Rahman, Sue Whitesides
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