Path planning with obstacle avoidance based on visibility binary tree algorithm

被引：67
|
作者：
Rashid, Abdulmuttalib Turky [1 ]
Ali, Abduladhem Abdulkareem [2 ]
Frasca, Mattia [3 ]
Fortuna, Luigi [3 ]
机构：
[1] Univ Basrah, Dept Elect Engn, Basrah, Iraq
[2] Univ Basrah, Dept Comp Engn, Basrah, Iraq
[3] Univ Catania, Fac Engn, DIEEI, Catania, Italy
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 12期
关键词：
Path planning; Obstacle avoidance; Visibility graph; Bresenham algorithm;
D O I：
10.1016/j.robot.2013.07.010
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a novel method for robot navigation in dynamic environments, referred to as visibility binary tree algorithm, is introduced. To plan the path of the robot, the algorithm relies on the construction of the set of all complete paths between robot and target taking into account inner and outer visible tangents between robot and circular obstacles. The paths are then used to create a visibility binary tree on top of which an algorithm for shortest path is run. The proposed algorithm is implemented on two simulation scenarios, one of them involving global knowledge of the environment, and the other based on local knowledge of the environment. The performance are compared with three different algorithms for path planning. (C) 2013 Elsevier B.V. All rights reserved.
引用
收藏
页码：1440 / 1449
页数：10
相关论文
共 50 条
  • [1] Obstacle Avoidance Path Planning Algorithm Based on Model Predictive Control
    Kim, Ji Chang
    Pae, Dong Sung
    Lim, Myo Taeg
    [J]. 2018 18TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2018, : 141 - 143
  • [2] Dynamic Obstacle Avoidance Planning Algorithm for UAV Based on Dubins Path
    Wang, Na
    Dai, Fei
    Liu, Fangxin
    Zhang, Guomin
    [J]. ALGORITHMS AND ARCHITECTURES FOR PARALLEL PROCESSING, ICA3PP 2018, PT II, 2018, 11335 : 367 - 377
  • [3] An Obstacle Avoidance Algorithm for Path Planning Based on Inspection MBD Model
    Liu, Zhenyu
    Fang, Yixiang
    Liu, Enfu
    Huang, Fengshan
    Jin, Jiangyan
    Zhao, Jincai
    [J]. ENGINEERING SOLUTIONS FOR MANUFACTURING PROCESSES IV, PTS 1 AND 2, 2014, 889-890 : 1246 - +
  • [4] Obstacle Avoidance Path Planning for UAV Based on Improved RRT Algorithm
    Yang, Fan
    Fang, Xi
    Gao, Fei
    Zhou, Xianjin
    Li, Hao
    Jin, Hongbin
    Song, Yu
    [J]. DISCRETE DYNAMICS IN NATURE AND SOCIETY, 2022, 2022
  • [5] Obstacle Avoidance Path Planning of Manipulator Based on Improved RRT Algorithm
    Yang Wen
    Wen Haiying
    Zhang Zhisheng
    [J]. 2021 INTERNATIONAL CONFERENCE ON COMPUTER, CONTROL AND ROBOTICS (ICCCR 2021), 2021, : 104 - 109
  • [6] Obstacle avoidance path planning algorithm for mobile robot based on improved RRT*
    Yang, Tao
    Li, ZhongJian
    Liu, Zhen
    Li, ZhiPeng
    [J]. 2022 9TH INTERNATIONAL FORUM ON ELECTRICAL ENGINEERING AND AUTOMATION, IFEEA, 2022, : 1144 - 1147
  • [7] Obstacle Avoidance Path Planning Algorithm of an Embedded Robot Based on Machine Vision
    Shou, Yiyang
    [J]. Mobile Information Systems, 2022, 2022
  • [8] Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots
    Han, WG
    Baek, SM
    Kuc, TY
    [J]. SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5: CONFERENCE THEME: COMPUTATIONAL CYBERNETICS AND SIMULATION, 1997, : 2747 - 2751
  • [9] Obstacle Avoidance Path Planning Algorithm of an Embedded Robot Based on Machine Vision
    Shou, Yiyang
    [J]. MOBILE INFORMATION SYSTEMS, 2022, 2022
  • [10] Obstacle Avoidance Path Planning Strategy for Autonomous Vehicles Based on Genetic Algorithm
    Weng, Xiaofeng
    Liu, Fei
    Zhou, Sheng
    Mai, Jiacheng
    Feng, Shaoxiang
    [J]. PROMET-TRAFFIC & TRANSPORTATION, 2024, 36 (04): : 733 - 748
12345