[PDF] Robot Path Planning Techniques A Comparative Study eBook

Author : Praveen Kalla
Publisher : Praveen Kalla
Page : 0 pages
File Size : 49,39 MB
Release : 2022-11-20
Category :
ISBN : 9781805458432

GET BOOK

The Fourth Industrial Revolution raises on the digitalisation presenting stateof-art ways in which embedded technology is seen everywhere, including the human body. This industrial revolution is distinct by several emerging technology innovations in almost all the fields, including Nanotechnology, the Internet of Things, Driverless Cars, Robotics, Artificial Intelligence, Biotechnology, 3D Printing, Quantum Computing, Electric Vehicles, Machine Learning, Data Sciences, Fuel Cells etc. Industry 4.0 is designated by a mix of hybrid technologies that is erasing the lines between the digital, biological and physical spheres. In the Fourth Industrial Revolution, robots are more and more capable of monitoring their interior structures for remote troubleshooting and predictive maintenance. Roboticists are concerned with developing artificial mechanical devices capable of moving by themselves, which must be modelled, planned, detected, activated, controlled and these movement behaviours can be influenced by 'programming'. If a robot safely moves in an unstructured environment and performs assigned tasks independently, it can be termed "Intelligent". Flawless navigation is a subspace of robot navigation in a territory, which is known as path planning. The optimal navigation aims to choose the impeccable trajectory between the starting state and the desired endpoint of the robot. The mobile robot path planning problem has intrigued and has received much attention throughout the history of Robotics. The fundamental path planning problem is finding a robot's accident-free path among static obstacles and dynamic barriers. In its simplest form, robotic path planning is purely a geometric issue, computing the accident-free path between the starting and end locations, given the geometry of the robot and the obstacles in its path.

Author : Jean-Daniel Boissonnat
Publisher : Springer Science & Business Media
Page : 600 pages
File Size : 45,41 MB
Release : 2003-09-11
Category : Technology & Engineering
ISBN : 9783540404767

GET BOOK

Selected contributions to the Workshop WAFR 2002, held December 15-17, 2002, Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection.

Author : Anis Koubaa
Publisher : Springer
Page : 205 pages
File Size : 24,75 MB
Release : 2018-04-05
Category : Technology & Engineering
ISBN : 331977042X

GET BOOK

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 :
Publisher :
Page : 0 pages
File Size : 48,57 MB
Release : 2020
Category : Dissertations, Academic
ISBN :

GET BOOK

Currently, robots are used to carry out dangerous tasks such as bomb detonations, spray painting, disaster management, and so on. To ensure sufficient robot navigation, various path-planning methods are available in the literature. These methods enable robots to create a collision-free path in their working environments. Such environments can be either static (laboratory) or dynamic (realistic). The available path planning methods differ with respect to latency, applicability, computational load, power consumption rates, and reliability. The ever-increasing applications of mobile robots require computable and efficient methods. However, most path planning methods are theoretical, not always reliable, and require huge computational resources, hence are not suitable for all real-time applications. This paper is aimed at studying and comparing some of the available and important path planning methods for autonomous mobile robots in terms of characteristics of path planning, such as graph-based methods, sample-based methods, and potential field methods. The paper compares path planning characteristics on a uniform performance index, by designing a comparison criterion. The performances of these methods are studied based on the designed framework, including running time, path solution, path length, and repeatability, Recommendations towards a feasible solution concerning the robot-working environment and the available resources are provided.

Author : Howie Choset
Publisher : MIT Press
Page : 642 pages
File Size : 11,54 MB
Release : 2005-05-20
Category : Technology & Engineering
ISBN : 9780262033275

GET BOOK

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 : Vladimir Trajkovik
Publisher : Springer Science & Business Media
Page : 307 pages
File Size : 30,62 MB
Release : 2013-07-20
Category : Technology & Engineering
ISBN : 3319014668

GET BOOK

Information communication technologies have become the necessity in everyday life enabling increased level of communication, processing and information exchange to extent that one could not imagine only a decade ago. Innovations in these technologies open new fields in areas such as: language processing, biology, medicine, robotics, security, urban planning, networking, governance and many others. The applications of these innovations are used to define services that not only ease, but also increase the quality of life. Good education is essential for establishing solid basis of individual development and performance. ICT is integrated part of education at every level and type. Therefore, the special focus should be given to possible deployment of the novel technologies in order to achieve educational paradigms adapted to possible educational consumer specific and individual needs. This book offers a collection of papers presented at the Fifth International Conference on ICT Innovations held in September 2013, in Ohrid, Macedonia. The conference gathered academics, professionals and practitioners in developing solutions and systems in the industrial and business arena especially innovative commercial implementations, novel applications of technology, and experience in applying recent ICT research advances to practical solutions.

Author : Cristian Mahulea
Publisher : John Wiley & Sons
Page : 240 pages
File Size : 21,76 MB
Release : 2020-01-09
Category : Technology & Engineering
ISBN : 1119486327

GET BOOK

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 : Lana Jalal
Publisher : LAP Lambert Academic Publishing
Page : 116 pages
File Size : 28,65 MB
Release : 2013
Category :
ISBN : 9783659478390

GET BOOK

In this book, Modified Genetic Algorithm (MGA) and Modified Particle Swarm Optimization (MPSO) are developed to increase the capability of these optimization algorithms for a global path planning. Despite the fact that (GA) has rapid search and high search quality, infeasible paths and high computational cost problems are exist associated with this algorithm. To address these problems, the MGA is presented. Improvements presented in MPSO are mainly trying to address the problem of premature convergence associated with the original PSO. In the MPSO an error factor is modelled to ensure that the PSO converges. A modified procedure is carrying out in the MPSO to solve the infeasible path problem. According to the simulation results using Matlab version R2012 (m-file), both algorithms (MGA and MPSO) are tested in different environments and the results are compared with previous researches. The results demonstrate that these two algorithms have a great potential to solve mobile robot path planning with satisfactory results in terms of minimizing distance and execution time.

Author : Anis Koubâa
Publisher : Springer
Page : 103 pages
File Size : 11,70 MB
Release : 2013-10-01
Category : Technology & Engineering
ISBN : 3642393012

GET BOOK

Mobile robots and Wireless Sensor Networks (WSNs) have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and WSNs have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other. The primary objective of book is to provide a reference for cutting-edge studies and research trends pertaining to robotics and sensor networks, and in particular for the coupling between them. The book consists of five chapters. The first chapter presents a cooperation strategy for teams of multiple autonomous vehicles to solve the rendezvous problem. The second chapter is motivated by the need to improve existing solutions that deal with connectivity prediction, and proposed a genetic machine learning approach for link-quality prediction. The third chapter presents an architecture for indoor navigation using an Android smartphone for guiding a variety of users, from sighted to the visually impaired, to their intended destination. In chapter four, the authors deal with accurate prediction modeling of ocean currents for underwater glider navigation. In chapter five, the authors discuss the challenges and limitations of RSS-based localization mechanisms and propose, EasyLoc, an autonomous and practical RSS-based localization technique that satisfies ease of deployment and implementation.

Author : Anand J. Kulkarni
Publisher : Springer
Page : 695 pages
File Size : 23,76 MB
Release : 2018-10-03
Category : Technology & Engineering
ISBN : 9811316104

GET BOOK

This book features research work presented at the 2nd International Conference on Data Engineering and Communication Technology (ICDECT) held on December 15–16, 2017 at Symbiosis International University, Pune, Maharashtra, India. It discusses advanced, multi-disciplinary research into smart computing, information systems and electronic systems, focusing on innovation paradigms in system knowledge, intelligence and sustainability that can be applied to provide feasible solutions to varied problems in society, the environment and industry. It also addresses the deployment of emerging computational and knowledge transfer approaches, optimizing solutions in a variety of disciplines of computer science and electronics engineering.