A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots

被引:9
|
作者
Song, Tao [1 ]
Huo, Xiang [1 ]
Wu, Xinkai [1 ,2 ]
机构
[1] Beihang Univ, Sch Transportat Sci & Engn, Beijing 100193, Peoples R China
[2] Beihang Univ, Beijing Adv Innovat Ctr Big Data & Brain Comp, Beijing 100193, Peoples R China
关键词
targets search; mobile robot; path planning; visual complete coverage; two-stage;
D O I
10.3390/s20236919
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To tackle this issue, we propose a two-stage optimization model to efficiently obtain an approximate optimal solution. In this model, we first develop a method to determine the key locations for visual complete coverage of a two-dimensional grid map, which is constructed by drawing lessons from the method of corner detection in the image processing. Then, we design a planning problem for searching the shortest path that passes all key locations considering the frequency of target occurrence. The testing results show that the proposed algorithm can achieve the significantly shorter search path length and the shorter target search time than the current Rule-based Algorithm and Genetic Algorithm (GA) in various simulation cases. Furthermore, the results show that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time. We also set up a test in a real environment to verify the feasibility of our algorithm.
引用
收藏
页码:1 / 18
页数:18
相关论文
共 50 条
  • [41] Study of Technology on Path Planning for Mobile Robots
    Li Guangshun
    Shi Hongbo
    2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11, 2008, : 3295 - 3300
  • [42] On the Complete Coverage Path Planning for Mobile Robots
    Hsu, Ping-Min
    Lin, Chun-Liang
    Yang, Meng-Yao
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2014, 74 (3-4) : 945 - 963
  • [43] IoT Path Planning Approach for Mobile Robots
    Belaidi, Hadjira
    Belkalem, Jugurtha
    Abed, Mohamed Amine
    Bentarzi, Hamid
    PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON APPLIED SMART SYSTEMS (ICASS), 2018,
  • [44] Path Planning for Mobile Robots on Rough Terrain
    Santos, Alexandre S.
    Azpurua, Hector I.
    Pessin, Gustavo
    Freitas, Gustavo M.
    15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018), 2018, : 265 - 270
  • [45] Path Planning Technique for Mobile Robots: A Review
    Yang, Liwei
    Li, Ping
    Qian, Song
    Quan, He
    Miao, Jinchao
    Liu, Mengqi
    Hu, Yanpei
    Memetimin, Erexidin
    MACHINES, 2023, 11 (10)
  • [46] On the Complete Coverage Path Planning for Mobile Robots
    Ping-Min Hsu
    Chun-Liang Lin
    Meng-Yao Yang
    Journal of Intelligent & Robotic Systems, 2014, 74 : 945 - 963
  • [47] Improved path planning algorithm for mobile robots
    Sun, Liping
    Duan, Xiaoyu
    Zhang, Kai
    Xu, Pingan
    Zheng, Xiaoyao
    Yu, Qingying
    Luo, Yonglong
    SOFT COMPUTING, 2023, 27 (20) : 15057 - 15073
  • [48] Path Planning for Autonomous Mobile Robots: A Review
    Sanchez-Ibanez, Jose Ricardo
    Perez-del-Pulgar, Carlos J.
    Garcia-Cerezo, Alfonso
    SENSORS, 2021, 21 (23)
  • [49] A Survey on Path Planning Algorithms for Mobile Robots
    Costa, Marcia M.
    Silva, Manuel F.
    2019 19TH IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2019), 2019, : 33 - 39
  • [50] Path Planning based on Geodesic for Mobile Robots
    Hu Yongqiang
    Bao Fengyu
    Li Bing
    Gu Zhongping
    2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2015, : 4315 - 4320