Framework transformation for local information on artificial potential field path planning

This paper addresses the issue of local information on the Artificial Potential Field (APF). The APF is designed as the path planning with global information usually. For the real time platform in the vast area, it is hard for the sensor to acquire data environment in the global view method. Generally, the sensor is attached on the robot itself that only could be obtained the local information. This paper proposes an approach to handle the local information on the APF. Framework transformation is the key idea to cope the problem. With the integration of the image processing, Voronoi Diagram, and framework transformation, the initial, goal, and obstacles from the real world coordinate can be determined in the APF environment scenario. The transformation of two-dimensional image is used to generate the APF. The global optimum in the local information is as waypoints for the global optimum in whole environment scenario. Local data set was used to test the performance of the algorithm. Two scenarios were used in this research, i.e. the static environment and dynamic environment with moving obstacle. The moving obstacle was moved toward to the robot. The results show that the concept can be used for APF that uses local information.

[1]  Salah Sukkarieh,et al.  An Efficient Path Planning and Control Algorithm for RUAV’s in Unknown and Cluttered Environments , 2010, J. Intell. Robotic Syst..

[2]  Mesut Gündüz,et al.  A recombination-based hybridization of particle swarm optimization and artificial bee colony algorithm for continuous optimization problems , 2013, Appl. Soft Comput..

[3]  Huijuan Wang,et al.  Application of Dijkstra algorithm in robot path-planning , 2011, 2011 Second International Conference on Mechanic Automation and Control Engineering.

[4]  Fernando Gómez-Bravo,et al.  Application of multicriteria decision-making techniques to manoeuvre planning in nonholonomic robots , 2010, Expert Syst. Appl..

[5]  Li Li,et al.  Image Matching Algorithm based on Feature-point and DAISY Descriptor , 2014, J. Multim..

[6]  Adem Tuncer,et al.  Dynamic path planning of mobile robots with improved genetic algorithm , 2012, Comput. Electr. Eng..

[7]  Subhadeep Chakraborty Ant Colony System: A New Concept to Robot Path Planning , 2013 .

[8]  Fei Xie,et al.  Path-planning research in radioactive environment based on particle swarm algorithm , 2014 .

[9]  Mohammad Pourmahmood Aghababa,et al.  3D path planning for underwater vehicles using five evolutionary optimization algorithms avoiding static and energetic obstacles , 2012 .

[10]  Szymon Rusinkiewicz,et al.  Spacetime stereo: a unifying framework for depth from triangulation , 2005, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[11]  Noor Akhmad Setiawan,et al.  3D Dynamic UAV Path Planning for Interception of Moving Target in Cluttered Environment , 2013 .

[12]  Lifang Xu,et al.  Research of biogeography particle swarm optimization for robot path planning , 2015, Neurocomputing.

[13]  Tomi Kinnunen,et al.  Improving K-Means by Outlier Removal , 2005, SCIA.

[14]  Szymon Rusinkiewicz,et al.  Spacetime Stereo: A Unifying Framework for Depth from Triangulation , 2005, IEEE Trans. Pattern Anal. Mach. Intell..

[15]  Roland Siegwart,et al.  Introduction to Autonomous Mobile Robots , 2004 .

[16]  Hong Qu,et al.  An improved genetic algorithm with co-evolutionary strategy for global path planning of multiple mobile robots , 2013, Neurocomputing.

[17]  H. H. Triharminto,et al.  A novel Q-scanning for convex hull algorithm , 2015, Proceedings of the Joint International Conference on Electric Vehicular Technology and Industrial, Mechanical, Electrical and Chemical Engineering (ICEVT & IMECE).

[18]  Antonios Tsourdos,et al.  Co-operative path planning of multiple UAVs using Dubins paths with clothoid arcs , 2010 .

[19]  Wang Zhangqi,et al.  Mobile Robot Path Planning based on Parameter Optimization Ant Colony Algorithm , 2011 .

[20]  Renato Zaccaria,et al.  Planning and obstacle avoidance in mobile robotics , 2012, Robotics Auton. Syst..

[21]  Darius Burschka,et al.  Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue , 2012, IEEE Robotics & Automation Magazine.

[22]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[23]  Y. Volkan Pehlivanoglu,et al.  A new vibrational genetic algorithm enhanced with a Voronoi diagram for path planning of autonomous UAV , 2012 .