Reactive Path Planning Approach for Docking Robots in Unknown Environment
Joint Authors
Wang, Yintao
Cui, Peng
Yan, Weisheng
Source
Journal of Advanced Transportation
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-09-12
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks.
Therefore, feasible path is required in the docking process to guide the robot and adjust its pose.
However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking.
This paper presents a reactive path planning approach named Dubins-APF (DAPF) to solve the path planning problem for docking in unknown environment with obstacles.
In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path.
Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station.
Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field.
The robot will be navigated to the docking station with proper pose eventually via the DAPF approach.
The proposed DAPF approach is efficient and does not require the prior knowledge about the environment.
Simulation results are given to validate the effectiveness and feasibility of the proposed approach.
American Psychological Association (APA)
Cui, Peng& Yan, Weisheng& Wang, Yintao. 2017. Reactive Path Planning Approach for Docking Robots in Unknown Environment. Journal of Advanced Transportation،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1170908
Modern Language Association (MLA)
Cui, Peng…[et al.]. Reactive Path Planning Approach for Docking Robots in Unknown Environment. Journal of Advanced Transportation No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1170908
American Medical Association (AMA)
Cui, Peng& Yan, Weisheng& Wang, Yintao. Reactive Path Planning Approach for Docking Robots in Unknown Environment. Journal of Advanced Transportation. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1170908
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1170908