A Direct Approach of Path Planning Using Environmental Contours

Roadmap is important in typical robotic applications and it is not a trivial task to obtain in unknown space. In this paper, we propose a novel approach to calculate the roadmap that is robust against noisy environmental contours and the movement of the robot. In order to obtain full visibility to s...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 101; no. 1
Main Authors Yu, Hongjun, Liang, Lihua, Shi, Peng, Jiang, Qing
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 2021
Springer
Springer Nature B.V
Subjects
Algorithms
Artificial Intelligence
Contours
Control
Design and construction
Electrical Engineering
Engineering
Environmental aspects
Intersections
Mathematical analysis
Mechanical Engineering
Mechatronics
Optical range finders
Path planning
Polygons
Range finders
Robotics
Robots
Technology application
Visibility
Routing algorithm
Roadmap
Environmental contours
Space partitioning
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Summary:Roadmap is important in typical robotic applications and it is not a trivial task to obtain in unknown space. In this paper, we propose a novel approach to calculate the roadmap that is robust against noisy environmental contours and the movement of the robot. In order to obtain full visibility to space, we design a direct space partitioning approach to produce the roadmap. It uses readings from rangefinders to establish sequential polygons in time, and as the robot moves, intersections among polygons are iteratively obtained. After iterations of updates, we obtain a number of polygons with stable forms. Based on the connections among the polygons, we obtain a roadmap and propose a routing algorithm to calculate paths between points in space. Simulation examples are provided to demonstrate the performance of the proposed approach.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-020-01271-4