Papers by Keyword: Path Planning

Abstract: Path planning refers to designing a reliable, feasible, optimum, safe, and collision-free path with the shortest distance that takes a mobile robot from the start position to the goal point within an environment. To ensure the successful operation of a robot, an effective and efficient Path planning technique that guarantees obstacle avoidance and an optimal path must be adopted. This paper applies a novel path length reduction technique – the Kenneth, Nnanna, and Saleh (KNS) algorithm-to notable path planning algorithms (APF, A*, RRT, and RRT*) to shorten their path length by reducing the waypoints' bends and retaining the obstacle avoidance capability of the algorithms. We simulated applying the technique to different notable algorithms in an environment configured with varying obstacles. We compared the resultant paths with the original paths. The results show that the KNS algorithm is very effective and can significantly reduce the path length of the notable algorithms.

Abstract: Mobile robots have gained popularity in recent decades, owing to its capacity to be deployed in dangerous environments without jeopardizing humans. Mobile robotic vehicles are frequently used today to carry out tasks including environmental recognition, inspecting urbanized and industrial terrains, for search and rescue activities. Presently, search and rescue robot technology is progressing from experimental and theoretical studies towards applicability. The proper execution of a mobile robotic movement in a working environment depends on being aware of the nearby obstacles and avoiding any collisions that may occur. Robots today are integrated with several smart technologies that are necessary to model the environment and localize their position, control the movements, identify obstructions, and avoid obstacles based on the terrain and surface they are employed on by applying navigational procedures. This paper explores the various mobile robotics systems and their working currently in place utilized for rescue and search operations.

Abstract: In the coreless filament winding process (CFW) anchor points are wrapped with pre-impregnated fibre bundles (Towpregs) in a defined chronological order. With this process, fibre-polymer composite structures with a very high lightweight potential and very little material consumption can be created for different applications in the automotive, aeronautical, sports and architectural sector. The winding sequence and the fibre interaction thereby does have an influence on the final fibre architecture and thus on its structural behaviour. To take this into account a process chain for path planning and process simulation out of a design model is presented. To achieve flexible considerations of different design concepts a parameter-based method for the necessary path planning of the final three-dimensional fibre architecture is introduced. The approach is evaluated on different kinds of specimen.

Abstract: Autonomous Guided Vehicles (AGV) have the ability to operate on their own, perform tasks without human intervention. However, the investment cost is very high, so it is not suitable for countries with cheap workers like Vietnam. Therefore, this article will aim to build a complete AGV model that can move to the given coordinates. Model of AGV is 6-wheeled vehicles driven by 4 engines with the advantage of good movement in soft terrain, subsidence, ruggedness, slope, easy to balance and limit the vibration. Furthermore, we propose a method to improve the quality of the traditional A* algorithm by eliminating unnecessary intermediate points, which is Shortcut Path Reduction (SPR). Experimental results show that the vehicle can perform the bending technique, following straight lines and broken lines. Besides, the SPR not only met the requirements but also reduced the length of the journey.

Abstract: In the present world, mobile robot has been widely used for many functions across different areas of life. These mobile robots can be engaged in a static or dynamic environment where they are expected to accomplish a task optimally against all odds. Path planning for mobile robot is a very crucial problem in robotics that has been greatly researched upon; it is aimed at finding an optimal path in a given environment from a start point to the goal point. Several techniques have been employed in solving this crucial problem. These techniques are broadly classified as classical and heuristics. The Swarm Intelligence Techniques form a sub-class of the heuristics approach. The aim of this research is to review the swarm intelligence techniques in solving the mobile robot path planning problem. The drawbacks and merits of each of the techniques were discussed and a comparative analysis was given.

Abstract: For path planning and program generation of multi-type holes, this paper presents a method of the path planning, by using the improved genetic algorithm based on chaos algorithm, and develops an interactive programming system for multi-type holes. Users can choose regular holes, and input the parameters and the necessary information, according to their needs. Then the system will combine holes automatically, and calculate the position coordinates of each hole. After that the path planning is carried out by using the improved genetic algorithm. Finally, the system carries out the simulation experiment of the path planning, and outputs NC program. Experiment shows the system can realize the path planning of multi-type holes by a combination of regular holes and generate the NC code after path planning. The optimization of path is better and the operation is more convenient than UG and other professional CAM software.

Abstract: This article reports an investigation of path planning with multi reference paths for robotic fiber placement (RFP) on open-contoured mesh surface. The new method considers the ply orientation information determined by loading characteristics, divides one surface into different parts according to the ply orientation information and then designs different initial reference paths in different parts. This article also proposes new up-layer design in order to make up for defects between parts and improve strength.

Abstract: With the rapid development of medical imaging technology, computer graphics and visualization technologies, virtual endoscopy technology emerged. It mainly includes 2D medical image segmentation, 3D image reconstruction, path planning and virtual roaming. However, the path planning of virtual endoscopy has become one of the obstacles in this field due to the high irregularity of the nasopharyngeal anatomy structure. In this study, the nasopharynx including meatus nasi, pharyngeal canal, maxillary sinus, frontal sinus, sphenoid sinus, and ethmoid sinus is segmented and 3D reconstructed using MR images. The key technology of virtual endoscopy - center path planning algorithm is implemented based on distance transform. Also, two improved algorithms of center path planning are proposed. One is the selection algorithm of branch path and the other is the extraction algorithm for complex path based on human-computer interaction. These two improved algorithms can not only allow the traditional path planning algorithm to handle multiple branching structure but make roaming path to start at any point. Our experimental results satisfied the needs of clinical practice.

Abstract: Recently, unmanned vehicle (UV) research has increased its popularity around the globe not only for military applications but also for civilian uses. For military fields, UVs can enhance homeland defense, carry out coast and air surveillance, counter terrorists and most importantly, reduce harm to the manned force when certain mission may contain threat. As a consequence, UVs become an inevitable part of the Navy Force and extend the Navy mission handling capabilities. When it comes to research, UVs can be used to observe the climate, deliver goods, perform undersea testing, etc. But the open environment is dynamic, unforeseen and fast changing. Thus, a UV which has the ability to choose the optimal path autonomously based on the current situation not only can increase the efficiency of the UV, but also can save costs and time for the users. As a result, increasing the autonomy of the UV has attracted the attention of many researchersin recent years. Our research is based on the Markov chain Monte Carlo simulation model. We develop a simulation model architecture so as to realize collision free path planning and path optimization of an unmanned vehicle.

Abstract: As robotic systems evolve and get more sophisticated, expectations of them to accomplish high-level tasks increase gradually and their motion planning becomes more complex and difficult. The motion planning problem has been studied for more than four decades from different aspects such that presently has a vast literature. This paper investigates different components of the robot motion planning (RMP) problem and presents a new comprehensive taxonomy for a wide range of RMP problems. The taxonomy is based on a survey of the literature on RMP problems and applications in robotics and computer science.