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Hybrid rule-based motion planner for mobile robot in cluttered workspace, A combination of RRT and cell decomposition approaches

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F16%3APU118228" target="_blank" >RIV/00216305:26210/16:PU118228 - isvavai.cz</a>

  • Result on the web

    <a href="http://link.springer.com/article/10.1007/s00500-016-2103-4" target="_blank" >http://link.springer.com/article/10.1007/s00500-016-2103-4</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1007/s00500-016-2103-4" target="_blank" >10.1007/s00500-016-2103-4</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Hybrid rule-based motion planner for mobile robot in cluttered workspace, A combination of RRT and cell decomposition approaches

  • Original language description

    Motion planning problem is an active field in robotics. It is concerned with converting high-level task specifications into low-level descriptions of how to move and provides a feasible sequence of movements that avoid obstacles while respecting kinematic and dynamic equations. In this work, new planners are designed with the aim of developing an efficient motion planner in a heterogeneous, cluttered, and dynamic workspace. The planners are composed of two layers, and they use a rule-based system as a guidance. The first layer uses exact cell decomposition method, which divides the workspace into manageable regions and finds the adjacency information for them. The second layer utilizes rapidly exploring random tree algorithm RRT that finds a solution in a cluttered workspace. The adjacency information of the free cells and the exploration information that is provided by RRT are combined and utilized to help the planners classifying the free regions and guiding the growth of RRT trees efficiently toward the most important areas. Two types of the planners are proposed, the first one uses adviser that pulls the trees’ growth toward the boundary areas between explored and unexplored regions, while the adviser of the second planner uses the collision information and fuzzy rules to guide the trees’ growth toward areas that have low collision rate around the boundaries of explored regions. The planners are tested in stationary as well as in changed workspace. The proposed methods have been compared to other approaches and the simulation results show that they yield better results in terms of completeness and efficiency.

  • Czech name

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    <a href="/en/project/GA16-08549S" target="_blank" >GA16-08549S: Dynamical Systems Identification on Time Scales</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2016

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Name of the periodical

    Soft Computing

  • ISSN

    1432-7643

  • e-ISSN

    1433-7479

  • Volume of the periodical

    2016

  • Issue of the periodical within the volume

    1

  • Country of publishing house

    US - UNITED STATES

  • Number of pages

    17

  • Pages from-to

    1-17

  • UT code for WoS article

    000426761200008

  • EID of the result in the Scopus database

    2-s2.0-84960080214