Yıl 2019, Cilt 16 , Sayı 2, Sayfalar 46 - 69 2019-11-01

Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary

Mohammed Rabeea Hashim AL-DAHHAN [1] , Klaus Werner SCHMIDT [2]


Path planning algorithms for mobile robots are concerned with finding a feasible path between a

start and goal location in a given environment without hitting obstacles. In the existing literature, important

performance metrics for path planning algorithms are the path length, computation time and path safety,

which is quantified by the minimum distance of a path from obstacles.

The subject of this paper is the development of path planning algorithms for omni-directional robots,

which have the ability of following paths that consist of concatenated line segments. As the main contribution

of the paper, we develop three new sampling-based path planning algorithms that address all of the stated

performance metrics. The original idea of the paper is the computation of a modified environment map that

confines solution paths to the vicinity of the Voronoi boundary of the given environment. Using this modified

environment map, we adapt the sampling strategy of the popular path planning algorithms PRM (probabilistic

roadmap), PRM* and FMT (fast marching tree). As a result, we are able to generate solution paths with a

reduced computation time and increased path safety. Computational experiments with different environments

show that the proposed algorithms outperform state-of-the-art algorithms.


Path planning, omni-directional robots, sampling-based algorithms, Voronoi diagram
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Birincil Dil en
Bölüm Makaleler
Yazarlar

Orcid: 0000-0003-1376-6825
Yazar: Mohammed Rabeea Hashim AL-DAHHAN (Sorumlu Yazar)
Kurum: CANKAYA UNIVERSITY
Ülke: Turkey


Yazar: Klaus Werner SCHMIDT

Tarihler

Yayımlanma Tarihi : 1 Kasım 2019

Bibtex @araştırma makalesi { cankujse635661, journal = {Cankaya University Journal of Science and Engineering}, issn = {1309-6788}, eissn = {2564-7954}, address = {}, publisher = {Çankaya Üniversitesi}, year = {2019}, volume = {16}, pages = {46 - 69}, doi = {}, title = {Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary}, key = {cite}, author = {AL-DAHHAN, Mohammed Rabeea Hashim and SCHMIDT, Klaus Werner} }
APA AL-DAHHAN, M , SCHMIDT, K . (2019). Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary. Cankaya University Journal of Science and Engineering , 16 (2) , 46-69 . Retrieved from https://dergipark.org.tr/tr/pub/cankujse/issue/49903/635661
MLA AL-DAHHAN, M , SCHMIDT, K . "Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary". Cankaya University Journal of Science and Engineering 16 (2019 ): 46-69 <https://dergipark.org.tr/tr/pub/cankujse/issue/49903/635661>
Chicago AL-DAHHAN, M , SCHMIDT, K . "Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary". Cankaya University Journal of Science and Engineering 16 (2019 ): 46-69
RIS TY - JOUR T1 - Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary AU - Mohammed Rabeea Hashim AL-DAHHAN , Klaus Werner SCHMIDT Y1 - 2019 PY - 2019 N1 - DO - T2 - Cankaya University Journal of Science and Engineering JF - Journal JO - JOR SP - 46 EP - 69 VL - 16 IS - 2 SN - 1309-6788-2564-7954 M3 - UR - Y2 - 2019 ER -
EndNote %0 Çankaya Üniversitesi Bilim ve Mühendislik Dergisi Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary %A Mohammed Rabeea Hashim AL-DAHHAN , Klaus Werner SCHMIDT %T Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary %D 2019 %J Cankaya University Journal of Science and Engineering %P 1309-6788-2564-7954 %V 16 %N 2 %R %U
ISNAD AL-DAHHAN, Mohammed Rabeea Hashim , SCHMIDT, Klaus Werner . "Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary". Cankaya University Journal of Science and Engineering 16 / 2 (Kasım 2019): 46-69 .
AMA AL-DAHHAN M , SCHMIDT K . Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary. Cankaya University Journal of Science and Engineering. 2019; 16(2): 46-69.
Vancouver AL-DAHHAN M , SCHMIDT K . Safe and Efficient Path Planning for Omni-directional Robots using an Inflated Voronoi Boundary. Cankaya University Journal of Science and Engineering. 2019; 16(2): 69-46.