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probabilistic-roadmap-methods
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Planning a robust path for mobile robots in dynamic environment
, Article 2009 14th International CSI Computer Conference, CSICC 2009, 20 October 2009 through 21 October 2009, Tehran ; 2009 , Pages 470-476 ; 9781424442621 (ISBN) ; Manzuri Shalmani, M. T ; Sharif University of Technology
Abstract
In this paper, we propose a new method for mobile robot path planning in dynamic environment when the trajectories of obstacles are unknown. Our algorithm first utilizes a global approach called clearance based probabilistic roadmap method to find a suitable path and then locally apply evolutionary algorithm to keep the structure of the path when obstacles collide with the path. As a result, the path will act like an elastic band. To reach real time applicability, a light fitness function is proposed compare to other genetic algorithms to reduce the computation time needed for calculating and repairing path. Simulation results show that our method not only can keep the original structure of...
A real-time clearance-based approach for motion planning of mobile robots
, Article 7th IEEE International Conference on Cognitive Informatics, ICCI 2008, Stanford University, CA, 14 August 2008 through 16 August 2008 ; 2008 , Pages 394-401 ; 9781424425389 (ISBN) ; Iraji, R ; Manzuri Shalmani, M. T ; Sharif University of Technology
2008
Abstract
In this paper, two different important quality metrics, clearance and execution time, for motion planning of mobile robots are studied. Then a new approach, called Clearance-Based Probabilistic Roadmap Method (CBPRM (c)), is proposed which in contrast to VV(c) method, Visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time. This provides the CBPRM (c) to be applicable in dynamic environments which require realtime approaches. Experiments showed that the CBPRM(c) is able to generate paths with very low execution time considering determined clearance. © 2008 IEEE