Papers by Keyword: Path Planning

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Authors: Yan Fang, Xi Chen Yang, Jian Bo Lei
Abstract: A repair method for damaged parts based on laser robot system is proposed. First, to obtain 3D point cloud in the robot coordinate system, damaged part surfaces are scanned with binocular stereo vision system, including camera calibration and image matching. Secondly, with the point cloud data and laser processing parameters, system accomplishes path planning, generates robot programs. Experimental results show that system can effectively achieves 3D reconstruction and path planning, which further enable high precision remanufacturing.
Authors: Ippei Nishitani, Tetsuya Matsumura, Mayumi Ozawa, Ayanori Yorozu, Masaki Takahashi
Abstract: An autonomous mobile robot in a human living space should be able to not only realize collision-free motion but also give way to humans depending on the situation. Although various reactive obstacle avoidance methods have been proposed, it is difficult to achieve such motion. On the other hand, 3D X-Y-T space path planning, which takes into account the motion of both the robot and the human in a look-ahead time horizon, is effective. This paper proposes a real-time obstacle avoidance method for an autonomous mobile robot that considers the robots dynamic constraints, the personal space, and human directional area based on grid-based 3D X-Y-T space path planning. The proposed method generates collision-free motion in which the robot can yield to humans. To verify the effectiveness of the proposed method, various experiments in which the humans position and velocity were estimated using laser range finders were carried out.
Authors: Xiao Dong Tan, Xu Wang, Pi Wei Song
Abstract: The environment of automated warehouse is complex. Path collision exists conflict between intelligent robot with unknown obstacles and intelligent mobile-robot, increasing the difficulty in multiple mobile robots path planning.To solve the problem, firstly working environmental model is established with traffic rules method and the grid method. Then the whole system adopts the idea of hierarchical cooperation for dynamic local and global path planning.By simulation this method is suitable for dynamic environment with known and unknown obstacles and effectively solve the problem of path planning for multiple mobile robots in automated warehouse.
Authors: Bo Zhu, Zhong Min Wang, Zhao Lin Liu
Abstract: Aiming to solve the problem of mobile robot path planning, environmental models are established by using grid method at first, each grid is treated as a neuron, and then the whole space is changed into a topology-form one with all neutral net. Secondly, biological inspired neural networks (BINN) method towards neutral net is adopted to complete path planning of mobile robot. Furthermore, non-optimal solutions potentially produced in neutral net are modified in BINN. Simulation experiments show the feasibility and effectiveness of BINN method.
Authors: Shun Qing Xu
Abstract: This paper introduces operational path planning system of visual industrial robot, which could be applied to arc welding, cutting and gluing. It depicts a calibration method of camera coordinate. It gains environmental messages via the method of image acquisition. It uses the method of image procession to process the signals acquired. It fulfills robotic real-time control and offline programming. Practice has proved that this system has high repeatability precision, which can meet the challenge of arc welding, cutting and gluing, and also meet the needs of production line.
Authors: Jie Shao, Hai Xia Lin, Bin Song
Abstract: Multi-robot path planning using shared resources, easily conflict, prioritisation is the shared resource conflicts to resolve an important technology. This paper presents a learning classifier based on dynamic allocation of priority methods to improve the performance of the robot team. Individual robots learn to optimize their behaviors first, and then a high-level planner robot is introduced and trained to resolve conflicts by assigning priority. The novel approach is designed for Partially Observable Markov Decision Process environments. Simulation results show that the method used to solve the conflict in multi-robot path planning is effective and improve the capacity of multi-robot path planning.
Authors: Quan Bo Yuan, Hui Juan Wang, Peng Hua Zhu, Hui Zhao
Abstract: This paper analyzes the problems of artificial potential fields in robot path planning. A hybrid algorithm for robot path planning is proposed. Robot searching for path in artificial potential fields method, it is possible that the robot can’t reach the goal because of local minimum, when it is best to use a genetic algorithm for robot. Simulation results show the effectiveness of the models, and it can effectively solve the problem caused by defects of artificial potential fields in the path planning.
Authors: Bashra Kadhim Oleiwi, Hubert Roth, Bahaa I. Kazem
Abstract: In this study, we developed an Ant Colony Optimization (ACO) - Genetic Algorithm (GA) hybrid approach for solving the Multi objectives Optimization global path planning (MOPP) problem of mobile robot. The ACO optimization algorithm is used to find the sub-optimal collision free path which then used as initial population for GA. In the proposed modified genetic algorithms, specific genetic operator such as deletion operator is proposed, which is based on domain heuristic knowledge, to fit the optimum path planning for mobile robots. The objective of this study is improving GA performance for efficient and fast selection in generating the Multi objective optimal path for mobile robot navigation in static environment. First we used the proposed approach to evaluate its ability to solve single objective problem in length term as well as we compared it with traditional ACO and simple GA then we extended to solve Pareto optimality ideas based on three criteria: length, smoothness and security, and making it Multi objective Hybrid approach. The proposed approach is tested to generate the single and multi objective optimal collision free path. The simulation results show that the mobile robot travels successfully from one location to another and reaches its goal after avoiding all obstacles that are located in its way in all tested environment and indicate that the proposed approach is accurate and can find a set Pareto optimal solution efficiently in a single run.
Authors: Feng Zhou
Abstract: This paper proposes a new rolling algorithm for path plan of mobile robot based on automatically shunt the ant algorithm.The goal node is mapped to the node nearby the boundary in the eyeshot of the robot, and make out the best partial path, which the robot goes ahead for a step. The algorithm will iterate one time when the robot arrives at the goal node. The robot will reach the destination along the optimal path. Simulation experiments illustrate that the algorithm can be used to plan the optimal path for mobile robot even in the complex and unknown static environment.
Authors: Chun Mei Wang, Feng Shan Huang
Abstract: In order to improve the intelligent level of path planning in coordinate measurement, the algorithm of path planning based on theory of polychromatic sets and ant colony algorithm is proposed. The model of the relation about measured geometrical features, probe angles and inspection planes is established, and the sub path is got by grouping for the global path on the basis of conjunctive operation of polychromatic sets. The global path is optimized by planning the sub paths with ant colony algorithm. The practical example verified the validity and reliability of the proposed method.
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