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

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>

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

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Czech description

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Type

J_imp - 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)

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)

Publication year

2016

Confidentiality

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

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