Optimization approaches for robot trajectory planning

The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof), the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.

[1]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Chia-Ju Wu,et al.  Fuzzy Motion Planning of Mobile Robots in Unknown Environments , 2003, J. Intell. Robotic Syst..

[3]  Sebastian Thrun,et al.  Anytime Dynamic A*: An Anytime, Replanning Algorithm , 2005, ICAPS.

[4]  Osamu Takahashi,et al.  Motion planning in a plane using generalized Voronoi diagrams , 1989, IEEE Trans. Robotics Autom..

[5]  Mark H. Overmars,et al.  A probabilistic learning approach to motion planning , 1995 .

[6]  Siti Hafizah Ab Hamid,et al.  Cost and Effectiveness of Search-Based Techniques for Model-Based Testing: An Empirical Analysis , 2017, Int. J. Softw. Eng. Knowl. Eng..

[7]  Francisco Valero,et al.  Improving productivity using a multi-objective optimization of robotic trajectory planning , 2015 .

[8]  K. Manousakis,et al.  Using multi-objective domain optimization for routing in hierarchical networks , 2005, 2005 International Conference on Wireless Networks, Communications and Mobile Computing.

[9]  Francisco Rubio,et al.  Industrial robot efficient trajectory generation without collision through the evolution of the optimal trajectory , 2016, Robotics Auton. Syst..

[10]  Dinesh K. Pai,et al.  Multiresolution rough terrain motion planning , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[11]  John F. Canny,et al.  New lower bound techniques for robot motion planning problems , 1987, 28th Annual Symposium on Foundations of Computer Science (sfcs 1987).

[12]  Howie Choset,et al.  Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1 , 2007 .

[13]  Chee-Keng Yap,et al.  A "Retraction" Method for Planning the Motion of a Disc , 1985, J. Algorithms.

[14]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[15]  Weiwei Xing,et al.  An Improved Potential Field Based Method for Crowd Simulation , 2015, Int. J. Softw. Eng. Knowl. Eng..

[16]  Janusz Sobecki,et al.  Comparison of Selected Swarm Intelligence Algorithms in Student Courses Recommendation Application , 2014, Int. J. Softw. Eng. Knowl. Eng..

[17]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[18]  Qingfu Zhang,et al.  Evolutionary Algorithms Refining a Heuristic: A Hybrid Method for Shared-Path Protections in WDM Networks Under SRLG Constraints , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[19]  Masayuki Inaba,et al.  Dynamically-Stable Motion Planning for Humanoid Robots , 2002, Auton. Robots.

[20]  Hamid Haj Seyyed Javadi,et al.  Using Particle Swarm Optimization for Robot Path Planning in Dynamic Environments with Moving Obstacles and Target , 2009, 2009 Third UKSim European Symposium on Computer Modeling and Simulation.

[21]  Christopher A. Sikorski,et al.  Grid-based mapping for autonomous mobile robot , 1993, Robotics Auton. Syst..

[22]  Jean-Claude Latombe,et al.  New heuristic algorithms for efficient hierarchical path planning , 1991, IEEE Trans. Robotics Autom..

[23]  Zvi Shiller,et al.  Off-Line and On-Line Trajectory Planning , 2015 .

[24]  O Hachour,et al.  PATH PLANNING OF AUTONOMOUS MOBILE ROBOT , 2008 .

[25]  John Smith,et al.  Genetic algorithms for adaptive motion planning of an autonomous mobile robot , 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

[26]  Simon X. Yang,et al.  A Neural Network Approach to Dynamic Task Assignment of Multirobots , 2006, IEEE Transactions on Neural Networks.

[27]  Huan He,et al.  Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm , 2006 .

[28]  James Kennedy,et al.  Particle swarm optimization , 2002, Proceedings of ICNN'95 - International Conference on Neural Networks.

[29]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[30]  John H. Holland,et al.  Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence , 1992 .

[31]  Jianhua Zhang,et al.  Multi-objective Particle Swarm Optimization for Robot Path Planning in Environment with Danger Sources , 2011, J. Comput..

[32]  Tomás Lozano-Pérez,et al.  An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.

[33]  Yoshihiko Nakamura,et al.  Kinodynamic Planning in the Configuration Space via Velocity Interval Propagation , 2013 .

[34]  Francisco Valero,et al.  Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots , 2015 .

[35]  Mahdi Fakoor,et al.  Humanoid Robot Path Planning with Fuzzy Markov Decision Processes , 2016 .

[36]  Leonidas J. Guibas,et al.  Visibility-polygon search and euclidean shortest paths , 1985, 26th Annual Symposium on Foundations of Computer Science (sfcs 1985).

[37]  Napsiah Ismail,et al.  A Review on Robot Motion Planning Approaches , 2012 .

[38]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[39]  Oscar Castillo,et al.  Path planning for autonomous mobile robot navigation with ant colony optimization and fuzzy cost function evaluation , 2009, Appl. Soft Comput..

[40]  P. S. Maybeck,et al.  The Kalman Filter: An Introduction to Concepts , 1990, Autonomous Robot Vehicles.

[41]  Fernando José Von Zuben,et al.  Evolutionary Stigmergy in Multipurpose Navigation Systems , 2006, 2006 IEEE International Conference on Evolutionary Computation.

[42]  S. Arimoto,et al.  Path Planning Using a Tangent Graph for Mobile Robots Among Polygonal and Curved Obstacles , 1992 .

[43]  Lydia E. Kavraki,et al.  Randomized query processing in robot path planning , 1995, STOC '95.

[44]  Vladimir J. Lumelsky,et al.  Path-planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shape , 1987, Algorithmica.

[45]  O. Hachour.  The Proposed Genetic FPGA Implementation For Path Planning of Autonomous Mobile Robot , 2022 .

[46]  Guochang Gu,et al.  Path Planning Based on Improved Binary Particle Swarm Optimization Algorithm , 2008, RAM.

[47]  David E. Goldberg,et al.  Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[48]  De-Bao Sun,et al.  Path planning for mobile robot using the particle swarm optimization with mutation operator , 2004, Proceedings of 2004 International Conference on Machine Learning and Cybernetics (IEEE Cat. No.04EX826).

[49]  P. Raja,et al.  Optimal path planning of mobile robots: A review , 2012 .

[50]  J. Sack,et al.  Minimum Decompositions of Polygonal Objects , 1985 .

[51]  Li Lei,et al.  PRESENT STATE AND FUTURE DEVELOPMENT OF MOBILE ROBOT TECHNOLOGY RESEARCH , 2002 .

[52]  David Hsu,et al.  Randomized single-query motion planning in expansive spaces , 2000 .

[53]  N.K. Taylor,et al.  Articulated Robot Motion Planning Using Ant Colony Optimisation , 2006, 2006 3rd International IEEE Conference Intelligent Systems.

[54]  Jianda Han,et al.  Survey of Robot 3D Path Planning Algorithms , 2016 .

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