• Title/Summary/Keyword: Path Planning

### Real-time Hybrid Path Planning Algorithm for Mobile Robot (이동로봇을 위한 실시간 하이브리드 경로계획 알고리즘)

• Lee, Donghun;Kim, Dongsik;Yi, Jong-Ho;Kim, Dong W.
• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.115-122
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• 2014
• Mobile robot has been studied for long time due to its simple structure and easy modeling. Regarding path planning of the mobile robot, we suggest real-time hybrid path planning algorithm which is the combination of optimal path planning and real-time path planning in this paper. Real-time hybrid path planning algorithm modifies, finds best route, and saves calculating time. It firstly plan the route with real-time path planning then robot starts to move according to the planned route. While robot is moving, update the route as the best outcome which found by optimal path planning algorithm. Verifying the performance of the proposed method through the comparing real-time hybrid path planning with optimal path planning will be done.

### Optimal Path Planning of Autonomous Mobile Robot Utilizing Potential Field and Fuzzy Logic (퍼지로직과 포텐셜 필드를 이용한 자율이동로봇의 최적경로계획법)

• Park, Jong-Hoon;Lee, Jae-Kwang;Huh, Uk-Youl
• Proceedings of the KIEE Conference
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• pp.11-14
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• 2003
• In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

### Path Planning for an Intelligent Robot Using Flow Networks (플로우 네트워크를 이용한 지능형 로봇의 경로계획)

• Kim, Gook-Hwan;Kim, Hyung;Kim, Byoung-Soo;Lee, Soon-Geul
• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.255-262
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• 2011
• Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.

### Genetic Algorithm Based 3D Environment Local Path Planning for Autonomous Driving of Unmanned Vehicles in Rough Terrain (무인 차량의 험지 자율주행을 위한 유전자 알고리즘 기반 3D 환경 지역 경로계획)

• Yun, SeungJae;Won, Mooncheol
• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.803-812
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• 2017
• This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

### A Study on New Map Construction and Path Planning Method for Mobile Robot Navigation (이동 로봇의 주행을 위한 새로운 지도 구성 방법 및 경로 계획에 관한 연구)

• O, Jun-Seop;Park, Jin-Bae;Choe, Yun-Ho
• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.9
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• pp.538-545
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• 2000
• In this paper we proposed a new map construction and path planning method for mobile robot. In our proposed method first we introduced triangular representation map that mobile robot can navigate through shorter path and flexible motion instead of grid representation map for mobile robot navigation. method in which robot can navigate complete space through as short path as possible in unknown environment is proposed. Finally we proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed triangular representation map it was compared with the existing distance transform path planning method. And we considered complete coverage navigation and new path planning method through several examples.

### Path planning on satellite images for unmanned surface vehicles

• Yang, Joe-Ming;Tseng, Chien-Ming;Tseng, P.S.
• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.1
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• pp.87-99
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• 2015
• In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle $A^*$ algorithm ($FAA^*$), an advanced $A^*$ algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV.

### Path planning in nuclear facility decommissioning: Research status, challenges, and opportunities

• Adibeli, Justina Onyinyechukwu;Liu, Yong-kuo;Ayodeji, Abiodun;Awodi, Ngbede Junior
• Nuclear Engineering and Technology
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• v.53 no.11
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• pp.3505-3516
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• 2021
• During nuclear facility decommissioning, workers are continuously exposed to high-level radiation. Hence, adequate path planning is critical to protect workers from unnecessary radiation exposure. This work discusses recent development in radioactive path planning and the algorithms recommended for the task. Specifically, we review the conventional methods for nuclear decommissioning path planning, analyze the techniques utilized in developing algorithms, and enumerate the decision factors that should be considered to optimize path planning algorithms. As a major contribution, we present the quantitative performance comparison of different algorithms utilized in solving path planning problems in nuclear decommissioning and highlight their merits and drawbacks. Also, we discuss techniques and critical consideration necessary for efficient application of robots and robotic path planning algorithms in nuclear facility decommissioning. Moreover, we analyze the influence of obstacles and the environmental/radioactive source dynamics on algorithms' efficiency. Finally, we recommend future research focus and highlight critical improvements required for the existing approaches towards a safer and cost-effective nuclear-decommissioning project.

### A real-time path planning method for efficient movement of a mobile robot (자율이동로봇의 효과적인 이동을 위한 실시간 경로생성 방법)

• Sa, In-Kyu;Ahn, Ho-Seok;Lee, Hyung-Kyu;Choi, Jin-Young
• Proceedings of the KIEE Conference
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• pp.331-332
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• 2008
• A real-time path planning of mobile robots is a broad topic, covering a large spectrum of different technologies and applications. Briefly a path planning is designated moving technique from current pose to desired pose. It is remarkably easy to handle for human, not for robot. It is difficult that a robot recognizes surround to get a current pose and to avoid an obstacles. In this paper covers kinematics, path planning for efficient movements of a mobile robot. Kinematics of mobile robot which is suggested in this paper is exploited to create reliable and suitable motions. In addition, Gradient method is a algorithm which can guarantee for real-time path planning.

### A Method of Path Planning for a Quadruped Walking Robot on Irregular Terrain (불규칙 지형에서 사가 보행 로보트의 경로 계획 방법)

• ;Zeungnam Biem
• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.2
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• pp.329-338
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• 1994
• This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results.

### Path Planning of an Autonomous Mobile Robot Based on Genetic Algorithms (유전알고리즘을 이용한 자율이동로봇의 경로계획)

• Lee, D.H.;Lee, D.H.;Lee, M.H.;Be, J.I.
• Proceedings of the KIEE Conference
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• pp.2846-2848
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• 2000
• In this paper we propose a path planning method for an autonomous mobile robot based on genetic algorithms(GAs). There have been a number of methods proposed for the path planning of a mobile robot. However, few algorithms have been developed for an on-line path planning of a mobile robot with the uncertain information of a task environment. Therefore, we propose a path planning algorithms based on GAs that has ability of creating path planning without the perfect information of a task environment and an ability of planning the efficient path by on-line process. Then we show a possibility of the practical use with the results of simulations and experiments.