Randomized multi-goal path planning for Dubins vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00362031" target="_blank" >RIV/68407700:21230/22:00362031 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ETFA52439.2022.9921589" target="_blank" >https://doi.org/10.1109/ETFA52439.2022.9921589</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ETFA52439.2022.9921589" target="_blank" >10.1109/ETFA52439.2022.9921589</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Randomized multi-goal path planning for Dubins vehicles

Popis výsledku v původním jazyce

In multi-goal path planning, the task is to find a sequence to visit a set of target locations in an environment using the shortest path. Finding the order can be achieved by solving an instance of the Traveling Salesman Problem (TSP). This requires to determine paths and their lengths between the individual targets, which is solved using robotic path planning. In this paper, we propose a randomized planner for multi-goal path planning for non-holonomic mobile robots. Multiple trees are constructed simultaneously from the targets and expanded by collision-free configurations until they touch each other or obstacles. The trees are expanded using Dubins maneuvers. Therefore, the resulting trajectories satisfy the kinematic constraints of the mobile robots and they can also be used by Unmanned Aerial Vehicles flying at a constant altitude. The efficiency of the proposed planning approach is demonstrated in the multi-goal path planning for environments with tens of targets and compared to state-of-the-art approaches.

Název v anglickém jazyce

Randomized multi-goal path planning for Dubins vehicles

Popis výsledku anglicky

In multi-goal path planning, the task is to find a sequence to visit a set of target locations in an environment using the shortest path. Finding the order can be achieved by solving an instance of the Traveling Salesman Problem (TSP). This requires to determine paths and their lengths between the individual targets, which is solved using robotic path planning. In this paper, we propose a randomized planner for multi-goal path planning for non-holonomic mobile robots. Multiple trees are constructed simultaneously from the targets and expanded by collision-free configurations until they touch each other or obstacles. The trees are expanded using Dubins maneuvers. Therefore, the resulting trajectories satisfy the kinematic constraints of the mobile robots and they can also be used by Unmanned Aerial Vehicles flying at a constant altitude. The efficiency of the proposed planning approach is demonstrated in the multi-goal path planning for environments with tens of targets and compared to state-of-the-art approaches.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/GA22-24425S" target="_blank" >GA22-24425S: Techniky plánování pohybu v úzkých prostorech</a><br>

Návaznosti

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

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název statě ve sborníku

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)

ISBN

978-1-6654-9996-5

ISSN

1946-0740

e-ISSN

1946-0759

Počet stran výsledku

4

Strana od-do

—

Název nakladatele

IEEE Industrial Electronic Society

Místo vydání

Vienna

Místo konání akce

Stuttgart

Datum konání akce

6. 9. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000934103900143