Fast Path planning on planar occupancy grid exploiting geometry of obstacles

To socialize a robot, a key aspect that needs to be addressed is a path planning, and motion planning. In the past a number of algorithms have been advanced for efficient computation of a path between a source and a goal location. In this paper a path planning algorithm on a two dimensional occupancy grid has been proposed. The method exploits the geometric properties of the obstacles to plan a feasible as well as acceptable path, keeping the path length close to the shortest possible length. Comparisons using performance measures such as, computational time, and the quality of path metric, have been carried out with a few state of the art algorithms to justify the effectiveness of the proposed method over the existing ones.

[1]  Maarouf Saad,et al.  An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment , 2011, 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE).

[2]  Liang Yongsheng,et al.  Design and implementation of improved RRT algorithm for collision free motion planning of high-dimensional robot in complex environment , 2012, Proceedings of 2012 2nd International Conference on Computer Science and Network Technology.

[3]  Xia Su,et al.  Path planning of automated guided vehicles based on improved A-Star algorithm , 2015, 2015 IEEE International Conference on Information and Automation.

[4]  David P. Dobkin,et al.  The quickhull algorithm for convex hulls , 1996, TOMS.

[5]  Dominique Gruyer,et al.  Modified artificial potential field method for online path planning applications , 2017, 2017 IEEE Intelligent Vehicles Symposium (IV).

[6]  Le Chang,et al.  A new adaptive artificial potential field and rolling window method for mobile robot path planning , 2017, 2017 29th Chinese Control And Decision Conference (CCDC).

[7]  Li Meng,et al.  UAV path re-planning based on improved bidirectional RRT algorithm in dynamic environment , 2017, 2017 3rd International Conference on Control, Automation and Robotics (ICCAR).

[8]  Lei Yan,et al.  Application of RRT-based local Path Planning Algorithm in Unknown Environment , 2007, 2007 International Symposium on Computational Intelligence in Robotics and Automation.

[9]  Clauirton A. Siebra,et al.  A New Cost Function Heuristic Applied to A* Based Path Planning in Static and Dynamic Environments , 2015, 2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR).

[10]  Guifeng Zheng,et al.  HAS: Hierarchical A-Star Algorithm for Big Map Navigation in Special Areas , 2014, 2014 5th International Conference on Digital Home.

[11]  Wei Wang,et al.  A multi-RRT based hierarchical path planning method , 2012, 2012 IEEE 14th International Conference on Communication Technology.

[12]  Kwangjin Yang,et al.  Optimal spline-based RRT path planning using probabilistic map , 2014, 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014).

[13]  Frank Chongwoo Park,et al.  Tangent space RRT: A randomized planning algorithm on constraint manifolds , 2011, 2011 IEEE International Conference on Robotics and Automation.

[14]  Bo Yan,et al.  Improved hierarchical A-star algorithm for optimal parking path planning of the large parking lot , 2014, 2014 IEEE International Conference on Information and Automation (ICIA).

[15]  Liu Yang,et al.  A path planning method based on improved RRT , 2014, Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference.

[16]  Shirong Liu,et al.  RRT-A* Motion planning algorithm for non-holonomic mobile robot , 2014, 2014 Proceedings of the SICE Annual Conference (SICE).

[17]  Adnan Fatih Kocamaz,et al.  Visual based path planning with adaptive artificial potential field , 2017, 2017 25th Signal Processing and Communications Applications Conference (SIU).

[18]  Li Yangmin,et al.  Path planning in large-scale indoor environment using RRT , 2013, Proceedings of the 32nd Chinese Control Conference.

[19]  Wu Xinggang,et al.  Variable probability based bidirectional RRT algorithm for UAV path planning , 2014, The 26th Chinese Control and Decision Conference (2014 CCDC).