Several algorithms have been developed to help guide mobile robots in unknown environments. Various kinds of bug algorithms are available and each one these algorithms has an advantage over the others under different ...
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ISBN:
(纸本)9781538649015
Several algorithms have been developed to help guide mobile robots in unknown environments. Various kinds of bug algorithms are available and each one these algorithms has an advantage over the others under different circumstances. This paper introduces a new approach, the Diligent-bug (D-bug) algorithm, which is developed to enable a collision free navigation of robots in an unknown 2-dimensional environment. Static obstacles of arbitrary shapes have been considered to evaluate the developed algorithm. This algorithm also enables robots to avoid getting stuck in both local and global loops.
The scope of this paper is to analyze and compare three path planning methods for omni-directional robots, which are based on a) the bug algorithm b) the Potential Fields algorithm, and c) the A* algorithm for minimum...
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ISBN:
(纸本)9781424405367
The scope of this paper is to analyze and compare three path planning methods for omni-directional robots, which are based on a) the bug algorithm b) the Potential Fields algorithm, and c) the A* algorithm for minimum cost path with multiresolution grids. The approaches are compared in terms of computational costs and the resulting path lengths. Results obtained indicate that the bug algorithm is a suitable choice for this type of application as its computational cost is lower than that of the other methods. Furthermore, minor modifications of the standard bug algorithm, such as the tangent following modification, allow the path planner to handle well the situations encountered in typical multi-robot environments.
Práce se zabývá návrhem mobilního robotu pro pohyb v neznámém prostředí. Úvod práce se věnuje rešerši v oblasti možností konstrukce mobilních robotů, vhodn&...
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Práce se zabývá návrhem mobilního robotu pro pohyb v neznámém prostředí. Úvod práce se věnuje rešerši v oblasti možností konstrukce mobilních robotů, vhodných typů senzorů, algoritmům pro plánování trasy a řízení robotu. Druhá část práce se zabývá samotnou konstrukcí robotu. Robot je poté sestaven a jsou na něm testovány vybrané algoritmy pro plánování trasy v praxi.
The paper discusses a motion planner with increased performance in relation to a number of common planning algorithms for maps with obstacles of complex shapes. An algorithm is substantiated for searching for the opti...
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The paper discusses a motion planner with increased performance in relation to a number of common planning algorithms for maps with obstacles of complex shapes. An algorithm is substantiated for searching for the optimal path in terms of length in the class of piecewise broken curves on a special graph that combines some characteristic points of each obstacle. An estimate of the improved upper bound on the complexity of the algorithm as a function of the number of obstacles is given. Theoretical calculations are confirmed by the results of numerical simulation.
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