КФУ. Карточка публикации. Combining voronoi graph and spline-based approaches for a mobile robot path planning

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COMBINING VORONOI GRAPH AND SPLINE-BASED APPROACHES FOR A MOBILE ROBOT PATH PLANNING

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2017

Язык

английский

Авторы, сотрудники КФУ

Лавренов Роман Олегович, автор

Магид Евгений Аркадьевич, автор

Хасьянов Айрат Фаридович, автор

Другие авторы

Свинин Михаил , автор

Библиографическое описание на языке оригинала

Magid E. Combining Voronoi graph and spline-based approaches for a mobile robot path planning / Lavrenov R., Svinin M., Khasianov A. // Lecture Notes in Electrical Engineering. - 2017. - № 495. - p. 475-496.

Аннотация

Potential function based methods play significant role in both global and local path planning. While these methods are characterized with good reactive behaviour and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this paper we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm and present a path finding strategy within different homotopies that uses the new method. The algorithm was implemented in Matlab environment and demonstrated significantly better results than the original approach. The comparison was based on success rate, number of iterations and running time of the algorithms. In total, several thousands tests were performed in 18 different simulated environments.

Ключевые слова

MATLAB, Mobile robot, Path planning algorithm, Potential field, Robotics, Simulated experiments, Voronoi diagram

Название журнала

Lecture Notes in Electrical Engineering

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85065493962&doi=10.1007%2f978-3-030-11292-9_24&partnerID=40&md5=346ee5837b437fdb3f42d7de62610ebd

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https://repository.kpfu.ru/?p_id=202359

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Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Лавренов Роман Олегович	ru_RU
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.contributor.author	Хасьянов Айрат Фаридович	ru_RU
dc.contributor.author	Свинин Михаил	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Magid E. Combining Voronoi graph and spline-based approaches for a mobile robot path planning / Lavrenov R., Svinin M., Khasianov A. // Lecture Notes in Electrical Engineering. - 2017. - № 495. - p. 475-496.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=202359	ru_RU
dc.description.abstract	Lecture Notes in Electrical Engineering	ru_RU
dc.description.abstract	Potential function based methods play significant role in both global and local path planning. While these methods are characterized with good reactive behaviour and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this paper we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm and present a path finding strategy within different homotopies that uses the new method. The algorithm was implemented in Matlab environment and demonstrated significantly better results than the original approach. The comparison was based on success rate, number of iterations and running time of the algorithms. In total, several thousands tests were performed in 18 different simulated environments.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	MATLAB	ru_RU
dc.subject	Mobile robot	ru_RU
dc.subject	Path planning algorithm	ru_RU
dc.subject	Potential field	ru_RU
dc.subject	Robotics	ru_RU
dc.subject	Simulated experiments	ru_RU
dc.subject	Voronoi diagram	ru_RU
dc.title	Combining voronoi graph and spline-based approaches for a mobile robot path planning	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU