Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness
TL;DR: A new algorithm for solving the problem of path planning in a static environment by making use of an algorithm developed earlier by the authors called Multi-Neuron Heuristic Search (MNHS), a modified A^@?
About: This article is published in Neurocomputing.The article was published on 2011-07-01. It has received 57 citations till now. The article focuses on the topics: Population-based incremental learning & Shortest Path Faster Algorithm.
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TL;DR: Several new operations/improvements such as the particle update method based on random sampling and uniform mutation, the infeasible archive, the constrained domination relationship based on collision times with obstacles, are incorporated into the proposed algorithm to improve its effectiveness.
328 citations
01 Oct 2017
TL;DR: A proposed particle swarm optimization with an accelerated update methodology based on Pareto dominance principle is employed to generate the global optimal path with the focus on minimizing the path length and maximizing the path smoothness.
Abstract: Display Omitted A novel hierarchical global path planning approach for mobile robots in a cluttered environment.A proposed particle swarm optimization with an accelerated update methodology based on Pareto dominance principle.Providing optimal global robot paths with computational efficiency. In this paper, a novel hierarchical global path planning approach for mobile robots in a cluttered environment is proposed. This approach has a three-level structure to obtain a feasible, safe and optimal path. In the first level, the triangular decomposition method is used to quickly establish a geometric free configuration space of the robot. In the second level, Dijkstra's algorithm is applied to find a collision-free path used as input reference for the next level. Lastly, a proposed particle swarm optimization called constrained multi-objective particle swarm optimization with an accelerated update methodology based on Pareto dominance principle is employed to generate the global optimal path with the focus on minimizing the path length and maximizing the path smoothness. The contribution of this work consists in: (i) The development of a novel optimal hierarchical global path planning approach for mobile robots moving in a cluttered environment; (ii) The development of proposed particle swarm optimization with an accelerated update methodology based on Pareto dominance principle to solve robot path planning problems; (iii) Providing optimal global robot paths in terms of the path length and the path smoothness taking into account the physical robot system limitations with computational efficiency. Simulation results in various types of environments are conducted in order to illustrate the superiority of the hierarchical approach.
160 citations
TL;DR: An approach to real-time collision avoidance that complies with the COLREGS rules for USV is presented, and the Evidential Reasoning theory is employed to evaluate the collision risks with obstacles encountered and trigger a prompt warning of a potential collision.
151 citations
TL;DR: The success rate of robot path planning and the optimal extent of the robot path are effectively improved by the improved A* algorithm.
130 citations
01 Aug 2017
TL;DR: A new methodology to solve the path planning problem for a mobile robot using the surrounding point set (SPS) and a path improvement algorithm depending upon the former and latter points (PI_FLP), which can reduce the overall distance of the path, as well as achieve path smoothness.
Abstract: The objective of the path planning problem for a mobile robot is to generate a collision-free path from a starting position to a target position with respect to a certain fitness function, such as distance. Although, over the last few decades, path planning has been studied using a number of methodologies, the complicated and dynamic environment increases the complexity of the problem and makes it difficult to find an optimal path in reasonable time. Another issue is the existence of uncertainty in previous approaches. In this paper, we propose a new methodology to solve the path planning problem in two steps. First, the surrounding point set (SPS) is determined where the obstacles are circumscribed by these points. After the initial feasible path is generated based on the SPS, we apply a path improvement algorithm depending upon the former and latter points (PI_FLP), in which each point in the path is repositioned according to two points on either side. Through the SPS, we are able to identify the necessary points for solving path planning problems. PI_FLP can reduce the overall distance of the path, as well as achieve path smoothness. The SPS and PI_FLP algorithms were tested on several maps with obstacles and then compared with other path planning methods As a result, collision-free paths were efficiently and consistently generated, even for maps with narrow geometry and high complexity.
95 citations
References
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Book•
01 Jan 1975
TL;DR: Names of founding work in the area of Adaptation and modiication, which aims to mimic biological optimization, and some (Non-GA) branches of AI.
Abstract: Name of founding work in the area. Adaptation is key to survival and evolution. Evolution implicitly optimizes organisims. AI wants to mimic biological optimization { Survival of the ttest { Exploration and exploitation { Niche nding { Robust across changing environments (Mammals v. Dinos) { Self-regulation,-repair and-reproduction 2 Artiicial Inteligence Some deenitions { "Making computers do what they do in the movies" { "Making computers do what humans (currently) do best" { "Giving computers common sense; letting them make simple deci-sions" (do as I want, not what I say) { "Anything too new to be pidgeonholed" Adaptation and modiication is root of intelligence Some (Non-GA) branches of AI: { Expert Systems (Rule based deduction)
32,573 citations
"Robotic path planning in static env..." refers methods in this paper
...Some of the commonly used maps include topological maps [34], voronoi maps [4, 33], hybrid maps [4], etc....
[...]
01 Aug 1996
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Abstract: A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
4,977 citations
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Abstract: This paper describes a collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects. The algorithm transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object. A trajectory of this reference point which avoids all forbidden regions is free of collisions. Trajectories are found by searching a network which indicates, for each vertex in the transformed obstacles, which other vertices can be reached safely.
2,396 citations
TL;DR: This paper describes an approach that integrates both paradigms: grid-based and topological, which gains advantages from both worlds: accuracy/consistency and efficiency.
1,140 citations
24 Apr 2000
TL;DR: The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner.
Abstract: Describes an approach to probabilistic roadmap planners (PRMs). The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner. Our algorithm builds a roadmap in the configuration space, whose nodes are the user-defined initial and goal configurations and a number of randomly generated nodes. Neighboring nodes are connected by edges representing paths between the nodes. In contrast with PRMs, our planner initially assumes that all nodes and edges in the roadmap are collision-free, and searches the roadmap at hand for a shortest path between the initial and the goal node. The nodes and edges along the path are then checked for collision. If a collision with the obstacles occurs, the corresponding nodes and edges are removed from the roadmap. Our planner either finds a new shortest path, or first updates the roadmap with new nodes and edges, and then searches for a shortest path. The above process is repeated until a collision-free path is returned. Lazy PRM is tailored to efficiently answer single planning queries, but can also be used for multiple queries. Experimental results presented in the paper show that our lazy method is very efficient in practice.
874 citations