[PDF] Path Planning Algorithms For Autonomous Mobile Robots eBook

Author : Eugene Kagan
Publisher : John Wiley & Sons
Page : 340 pages
File Size : 10,31 MB
Release : 2019-12-16
Category : Technology & Engineering
ISBN : 1119212863

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Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Author : Mohammad Ali AskariHemmat
Publisher :
Page : 118 pages
File Size : 41,33 MB
Release : 2018
Category :
ISBN :

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This thesis work proposes the development and implementation of multiple different path planning algorithms for autonomous mobile robots, with a focus on differentially driven robots. Then, it continues to propose a real-time path planner that is capable of finding the optimal, collision-free path for a nonholonomic Unmanned Ground Vehicle (UGV) in an unstructured environment. First, a hybrid A* path planner is designed and implemented to find the optimal path; connecting the current position of the UGV to the target in real-time while avoiding any obstacles in the vicinity of the UGV. The advantages of this path planner are that, using the potential field techniques and by excluding the nodes surrounding every obstacles, it significantly reduces the search space of the traditional A* approach; it is also capable of distinguishing different types of obstacles by giving them distinct priorities based on their natures and safety concerns. Such an approach is essential to guarantee a safe navigation in the environment where humans are in close contact with autonomous vehicles. Then, with consideration of the kinematic constraints of the UGV, a smooth and drivable geometric path is generated. Throughout the whole thesis, extensive practical experiments are conducted to verify the effectiveness of the proposed path planning methodologies.

Author : Jean-Claude Latombe
Publisher : Springer Science & Business Media
Page : 668 pages
File Size : 25,93 MB
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 1461540224

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One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.

Author : Howie Choset
Publisher : MIT Press
Page : 642 pages
File Size : 39,78 MB
Release : 2005-05-20
Category : Technology & Engineering
ISBN : 9780262033275

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A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Author : Roland Siegwart
Publisher : MIT Press
Page : 473 pages
File Size : 12,57 MB
Release : 2011-02-18
Category : Computers
ISBN : 0262295091

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The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Author : Steven M. LaValle
Publisher : Cambridge University Press
Page : 844 pages
File Size : 41,53 MB
Release : 2006-05-29
Category : Computers
ISBN : 9780521862059

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Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Author : Cristian Mahulea
Publisher : John Wiley & Sons
Page : 240 pages
File Size : 23,20 MB
Release : 2020-01-09
Category : Technology & Engineering
ISBN : 1119486327

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Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

Author : Anis Koubaa
Publisher : Springer
Page : 205 pages
File Size : 19,42 MB
Release : 2018-04-05
Category : Technology & Engineering
ISBN : 331977042X

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This book presents extensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem. It is the first book to provide a comprehensive solution for using these techniques in large-scale environments containing randomly scattered obstacles. The research conducted resulted in tangible results both in theory and in practice. For path planning, new algorithms for large-scale problems are devised and implemented and integrated into the Robot Operating System (ROS). The book also discusses the parallelism advantage of cloud computing techniques to solve the path planning problem, and, for multi-robot task allocation, it addresses the task assignment problem and the multiple traveling salesman problem for mobile robots applications. In addition, four new algorithms have been devised to investigate the cooperation issues with extensive simulations and comparative performance evaluation. The algorithms are implemented and simulated in MATLAB and Webots.

Author : Paul A. Quillen
Publisher :
Page : 179 pages
File Size : 44,2 MB
Release : 2019
Category : Autonomous robots
ISBN :

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The purpose of this research is to investigate methods and technology for enhancing autonomous capabilities for mobile robots. The measures of autonomy which are specifically covered in this dissertation pertain to a mobile robot's ability to make decisions and act, in other words guidance and control. This dissertation puts forth a framework using optimal path planning and nonlinear guidance techniques to address these matters. The path plans are synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the minimum control effort of the system. Additionally, extensions of the path planning algorithm in the presence of uncertainty using modified versions of the RRT* and D* algorithms are studied. Then, an improved nonlinear model predictive control (NMPC) approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the path plan leading to the goal. A back stepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Furthermore, a cooperative control policy, making use of a combination of artificial potential functions (APF) and the numerical navigation function, is devised to guide multiple mobile robots in cooperative aggregation and social foraging tasks. The results of this research are verified in simulation and validated experimentally using the mobile robot testing platforms in the Aerospace Systems Laboratory at The University of Texas at Arlington.

Author : Hadi Jahanshahi
Publisher :
Page : 135 pages
File Size : 38,25 MB
Release : 2020-03-23
Category :
ISBN : 9781536167955

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The dominant theme of this book is to introduce the different path planning methods and present some of the most appropriate ones for robotic routing; methods that are capable of running on a variety of robots and are resistant to disturbances; being real-time, being autonomous, and the ability to identify high risk areas and risk management are the other features that will be mentioned in the introduction of the methods. The introduction of the profound significance of the robots and delineation of the navigation and routing theme is provided in the first chapter of the book. The second chapter is concerned with the subject of routing in unknown environments. In the first part of this chapter, the family of bug algorithms including are described. In the following, several conventional methods are submitted. The last part of this chapter is dedicated to the introduction of two recently developed routing methods. In Chapter 3, routing is reviewed in the known environment in which the robot either utilizes the created maps by extraneous sources or makes use of the sensor in order to prepare the maps from the local environment. The robot path planning relying on the robot vision sensors and applicable computing hardware are concentrated in the fourth chapter. The first part of this chapter deals with routing methods supported mapping capabilities. The second part manages the routing dependent on vision sensor typically known as the best sensor within the routing subject. The movement of two-dimensional robots with two or three degrees of freedom is analyzed within the third part of this chapter. In Chapter 5, the performance of a few of the foremost important routing methods initiating from the second to fourth chapters is conferred regarding the implementation in various environments. The first part of this chapter is engaged in the implementation of the algorithms Bug1, Bug2, and Distbug on the pioneering robot. In the second part, a theoretical technique is planned to boost the robot's performance in line with obstacle collision avoidance. This method, underlying the tangential escape, seeks to proceed the robot through various obstacles with curved corners. In the third and fourth parts of this chapter, path planning in different environments is preceded in the absence and the presence of danger space. Accordingly, four approaches, named artificial fuzzy potential field, linguistic technique, Markov decision making processes, and fuzzy Markov decision making have been proposed in two following parts and enforced on the Nao humanoid robot.