Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic
المؤلفون المشاركون
Wu, Kun-Lin
Ho, Ting-Jui
Huang, Sean A.
Lin, Kuo-Hui
Lin, Yueh-Chen
Liu, Jing-Sin
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-12، 12ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2016-10-23
دولة النشر
مصر
عدد الصفحات
12
التخصصات الرئيسية
الملخص EN
In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed.
The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking.
To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface.
The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle.
An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage.
A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wu, Kun-Lin& Ho, Ting-Jui& Huang, Sean A.& Lin, Kuo-Hui& Lin, Yueh-Chen& Liu, Jing-Sin. 2016. Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1111886
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wu, Kun-Lin…[et al.]. Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic. Mathematical Problems in Engineering No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1111886
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wu, Kun-Lin& Ho, Ting-Jui& Huang, Sean A.& Lin, Kuo-Hui& Lin, Yueh-Chen& Liu, Jing-Sin. Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1111886
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1111886
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر