Classic and Heuristic Approaches in Robot Motion Planning A Chronological Review

This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year period, from classic approaches to heuristic algorithms. Due to the NP-Hardness of the MP problem, heuristic methods have outperformed the classic approaches and have gained wide popularity. After surveying around 1400 papers in the field, the amount of existing works for each method is identified and classified. Especially, the history and applications of numerous heuristic methods in MP is investigated. The paper concludes with comparative tables and graphs demonstrating the frequency of each MP method’s application, and so can be used as a guideline for MP researchers. Keywords—Robot motion planning, Heuristic algorithms.

[1]  Helmut Hoyer,et al.  Fuzzy collision avoidance for industrial robots , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[2]  John Canny,et al.  The complexity of robot motion planning , 1988 .

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

[4]  Michelle D. Moore,et al.  Parallel genetic algorithm for search and constrained multi-objective optimization , 2004, 18th International Parallel and Distributed Processing Symposium, 2004. Proceedings..

[5]  Jean-Louis Deneubourg,et al.  Ants, buses and robots-self-organization of transportation systems , 1994, Proceedings of PerAc '94. From Perception to Action.

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

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

[8]  A. C. Esterline,et al.  Fuzzy motion planning using the Takagi-Sugeno method , 2000, Proceedings of the IEEE SoutheastCon 2000. 'Preparing for The New Millennium' (Cat. No.00CH37105).

[9]  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).

[10]  J.-X. Xu,et al.  Intelligent mobile robot path planning with fuzzy system approaches , 1993, Proceedings of IEEE 2nd International Workshop on Emerging Technologies and Factory Automation (ETFA '93).

[11]  Shirong Liu,et al.  Path Planning Based on Ant Colony Algorithm and Distributed Local Navigation for Multi-Robot Systems , 2006, 2006 International Conference on Mechatronics and Automation.

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

[13]  Jing Yuan,et al.  Collision identification between convex polyhedra using neural networks , 1995, IEEE Trans. Neural Networks.

[14]  Rui Ara,et al.  Prune-Able Fuzzy ART Neural Architecture for Robot Map Learning and Navigation in Dynamic Environments , 2006 .

[15]  H. Le-Huy,et al.  Robot path planning using neural networks and fuzzy logic , 1994, Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics.

[16]  Min Cheol Lee,et al.  Experimental evaluation of robot path planning by artificial potential field approach with simulated annealing , 2002, Proceedings of the 41st SICE Annual Conference. SICE 2002..

[17]  Arthur C. Sanderson,et al.  Planning multi-paths using speciation in genetic algorithms , 1996, Proceedings of IEEE International Conference on Evolutionary Computation.

[18]  Vladimir J. Lumelsky,et al.  Experiments with a mobile robot operating in a cluttered unknown environment , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[19]  John F. Canny,et al.  A new algebraic method for robot motion planning and real geometry , 1987, 28th Annual Symposium on Foundations of Computer Science (sfcs 1987).

[20]  K.H. Heng,et al.  Development of a vector-based fuzzy logic approach for motion planning , 2004, IEEE Conference on Cybernetics and Intelligent Systems, 2004..

[21]  Nils Goerke,et al.  Flexible path planning for real-time applications using A*-method and neural RBF-networks , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[22]  F. Janabi-Sharifi,et al.  Integration of the artificial potential field approach with simulated annealing for robot path planning , 1993, Proceedings of 8th IEEE International Symposium on Intelligent Control.

[23]  Meng Wang,et al.  Fuzzy logic based robot path planning in unknown environment , 2005, 2005 International Conference on Machine Learning and Cybernetics.

[24]  Luca Maria Gambardella,et al.  Ant colony system: a cooperative learning approach to the traveling salesman problem , 1997, IEEE Trans. Evol. Comput..

[25]  Li Wang,et al.  Obstacle-avoidance Path Planning for Soccer Robots Using Particle Swarm Optimization , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[26]  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.

[27]  Narendra Ahuja,et al.  Gross motion planning—a survey , 1992, CSUR.

[28]  Y. Davidor,et al.  Robot programming with a genetic algorithm , 1990, COMPEURO'90: Proceedings of the 1990 IEEE International Conference on Computer Systems and Software Engineering@m_Systems Engineering Aspects of Complex Computerized Systems.

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

[30]  Alexander Zelinsky,et al.  Using Path Transforms to Guide the Search for Findpath in 2D , 1994, Int. J. Robotics Res..

[31]  Takanori Shibata,et al.  Intelligent motion planning by genetic algorithm with fuzzy critic , 1993, Proceedings of 8th IEEE International Symposium on Intelligent Control.

[32]  Boris Stilman.  Network languages for complex systems , 1993 .

[33]  Rui Araújo,et al.  Prune-Able Fuzzy ART Neural Architecture for Robot Map Learning and Navigation in Dynamic Environments , 2006, IEEE Transactions on Neural Networks.

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

[35]  Francisco Vaz,et al.  Perception maps for the local navigation of a mobile robot: a neural network approach , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[36]  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).

[37]  David E. Goldberg,et al.  Inverse kinematics of redundant robots using genetic algorithms , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[38]  Qing Li,et al.  Optimum Path Planning for Mobile Robots Based on a Hybrid Genetic Algorithm , 2006, 2006 Sixth International Conference on Hybrid Intelligent Systems (HIS'06).

[39]  Masakazu Ejiri,et al.  Neural network approach to path planning for two dimensional robot motion , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

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

[41]  Toshio Fukuda,et al.  An intelligent robotic system based on a fuzzy approach , 1999, Proc. IEEE.

[42]  Yangmin Li,et al.  Smooth Path Planning of a Mobile Robot Using Stochastic Particle Swarm Optimization , 2006, 2006 International Conference on Mechatronics and Automation.

[43]  Toshio Fukuda,et al.  Coordinative behavior by genetic algorithm and fuzzy in evolutionary multi-agent system , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[44]  M.E. El-Hawary,et al.  A novel genetic algorithm searching approach for dynamic constrained multicast routing , 2003, CCECE 2003 - Canadian Conference on Electrical and Computer Engineering. Toward a Caring and Humane Technology (Cat. No.03CH37436).

[45]  J. Solano,et al.  Generation of collision-free paths, a genetic approach , 1993 .

[46]  Nasser Sadati,et al.  Solving robot motion planning problem using Hopfield neural network in a fuzzified environment , 2002, 2002 IEEE World Congress on Computational Intelligence. 2002 IEEE International Conference on Fuzzy Systems. FUZZ-IEEE'02. Proceedings (Cat. No.02CH37291).

[47]  Zuren Feng,et al.  Numerical Potential Field and Ant Colony Optimization Based Path Planning in Dynamic Environment , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[48]  Henry Hexmoor,et al.  A fuzzy logic approach to robotic path planning with obstacle avoidance , 1986, 1986 25th IEEE Conference on Decision and Control.

[49]  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.

[50]  Dave Erickson.  Non-learning artificial neural network approach to motion planning for the Pioneer robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[51]  Venansius Baryamureeba,et al.  PROCEEDINGS OF WORLD ACADEMY OF SCIENCE, ENGINEERING AND TECHNOLOGY, VOL 8 , 2005 .

[52]  M. Zacksenhouse,et al.  A neural network architecture for cue-based motion planning , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[53]  James A. Sethian,et al.  Level Set Methods and Fast Marching Methods: Evolving Interfaces in Computational Geometry, Fluid , 2012 .

[54]  Frank L. Lewis,et al.  Autonomous Mobile Robots : Sensing, Control, Decision Making and Applications , 2006 .

[55]  Bruce H. Krogh,et al.  The use of simulated annealing to solve the mobile manipulator path planning problem , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[56]  Max Q.-H. Meng,et al.  A neural network approach to real-time motion planning and control of robot manipulators , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[57]  Ying-Tung Hsiao,et al.  Ant colony optimization for best path planning , 2004, IEEE International Symposium on Communications and Information Technology, 2004. ISCIT 2004..

[58]  Alain Hertz,et al.  Ants can colour graphs , 1997 .

[59]  Qidan Zhu,et al.  Robot Path Planning Based on Artificial Potential Field Approach with Simulated Annealing , 2006, Sixth International Conference on Intelligent Systems Design and Applications.

[60]  Shigeru Okuma,et al.  Motion planning for multiple obstacles avoidance of autonomous mobile robot using hierarchical fuzzy rules , 1994, Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems.

[61]  J. Sethian.  Level set methods : evolving interfaces in geometry, fluid mechanics, computer vision, and materials science , 1996 .

[62]  Jiann-Der Lee,et al.  A cache-genetic-based modular fuzzy neural network for robot path planning , 1996, 1996 IEEE International Conference on Systems, Man and Cybernetics. Information Intelligence and Systems (Cat. No.96CH35929).

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

[64]  S. Zein-Sabatto,et al.  Multiple path planning for a group of mobile robots in a 3D environment using genetic algorithms , 2002, Proceedings IEEE SoutheastCon 2002 (Cat. No.02CH37283).

[65]  D. K. Pratihar,et al.  Fuzzy-genetic algorithms and mobile robot navigation among static obstacles , 1999, Proceedings of the 1999 Congress on Evolutionary Computation-CEC99 (Cat. No. 99TH8406).

[66]  B. Faverjon,et al.  A local based approach for path planning of manipulators with a high number of degrees of freedom , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[67]  Libor Preucil,et al.  Robot Path Planning using Particle Swarm Optimization of Ferguson Splines , 2006, 2006 IEEE Conference on Emerging Technologies and Factory Automation.

[68]  Fan Jian,et al.  RL-ART2 Neural Network Based Mobile Robot Path Planning , 2006, Sixth International Conference on Intelligent Systems Design and Applications.

[69]  E. Masehian,et al.  A Tabu Search-based Approach for Online Motion Planning , 2006, 2006 IEEE International Conference on Industrial Technology.

[70]  Dingwei Wang,et al.  Genetic algorithms for solving shortest path problems , 1997, Proceedings of 1997 IEEE International Conference on Evolutionary Computation (ICEC '97).

[71]  S. Zein-Sabatto,et al.  Multiple path planning for a group of mobile robot in a 2-D environment using genetic algorithms , 2001, Proceedings. IEEE SoutheastCon 2001 (Cat. No.01CH37208).

[72]  A. D. Blackowiak,et al.  Multi-path arrival estimates using simulated annealing: application to crosshole tomography experiment , 1995 .

[73]  N.K. Taylor,et al.  Ant Colony Robot Motion Planning , 2005, EUROCON 2005 - The International Conference on "Computer as a Tool".

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

[75]  Jin-Hui Zhu,et al.  Obstacle avoidance with multi-objective optimization by PSO in dynamic environment , 2005, 2005 International Conference on Machine Learning and Cybernetics.

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

[77]  Hiroshi Yokoi,et al.  Development of a motion planning system for an agricultural mobile robot , 1999, SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456).

[78]  Gianluca Antonelli,et al.  A Fuzzy-Logic-Based Approach for Mobile Robot Path Tracking , 2007, IEEE Transactions on Fuzzy Systems.

[79]  Stan C. A. M. Gielen,et al.  Neural Network Dynamics for Path Planning and Obstacle Avoidance , 1995, Neural Networks.

[80]  Wan Kyun Chung,et al.  A Systematic Representation of Edges in Topological Maps for Mobile Robots using Wavelet Transformation , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[81]  Ellips Masehian,et al.  A voronoi diagram-visibility graph-potential field compound algorithm for robot path planning , 2004, J. Field Robotics.

[82]  Masafumi Hagiwara,et al.  A simple path planning system using fuzzy rules and a potential field , 1994, Proceedings of 1994 IEEE 3rd International Fuzzy Systems Conference.

[83]  John F. Canny,et al.  A Voronoi method for the piano-movers problem , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[84]  Xiong Luo,et al.  Optimal path planning for mobile robots based on intensified ant colony optimization algorithm , 2003, IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003.