KFU. Card publication. Modified spline-based navigation: Guaranteed safety for obstacle avoidance

KAZAN
FEDERAL UNIVERSITY

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MODIFIED SPLINE-BASED NAVIGATION: GUARANTEED SAFETY FOR OBSTACLE AVOIDANCE

Form of presentation

Articles in international journals and collections

Year of publication

2017

Язык

английский

Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Authors, postgraduates KFU

Lavrenov Roman Olegovich, postgraduate kfu

Bibliographic description in the original language

Lavrenov R. Modified spline-based navigation: Guaranteed safety for obstacle avoidance / Matsuno F., Magid E. // Lecture Notes in Computer Science (incl. subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - 2017. - №10459. - p. 123-133.

Annotation

Successful interactive collaboration with a human demands mobile robots to have an advanced level of autonomy, which basic requirements include social interaction, real time path planning and navigation in dynamic environment. For mobile robot path planning, potential function based methods provide classical yet powerful solutions. They are characterized with reactive local obstacle avoidance and implementation simplicity, but suffer from navigation function local minima. In this paper we propose a modification of our original spline-based path planning algorithm, which consists of two levels of planning. At the first level, Voronoi-based approach provides a number sub-optimal paths in different homotopic groups. At the second, these paths are optimized in an iterative manner with regard to selected criteria weights. A new safety criterion is integrated into both levels of path planning to guarantee path safety, while further optimization of a safe path relatively to other criteria is secondary. The modified algorithm was implemented in Matlab environment and demonstrated significant advantages over the original algorithm.

Keywords

Path planning, Voronoi diagram, potential field, mobile robot

The name of the journal

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

URL

https://link.springer.com/chapter/10.1007/978-3-319-66471-2_14

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=166181&p_lang=2

Resource files

File name	Size (MB)	Format
2017_Modified_Spline_Based_Navigation_Guaranteed_Safety_for_Obstacle_Avoidance.pdf	1,44	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Lavrenov R. Modified spline-based navigation: Guaranteed safety for obstacle avoidance / Matsuno F., Magid E. // Lecture Notes in Computer Science (incl. subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - 2017. - №10459. - p. 123-133.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=166181&p_lang=2	ru_RU
dc.description.abstract	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)	ru_RU
dc.description.abstract	Successful interactive collaboration with a human demands mobile robots to have an advanced level of autonomy, which basic requirements include social interaction, real time path planning and navigation in dynamic environment. For mobile robot path planning, potential function based methods provide classical yet powerful solutions. They are characterized with reactive local obstacle avoidance and implementation simplicity, but suffer from navigation function local minima. In this paper we propose a modification of our original spline-based path planning algorithm, which consists of two levels of planning. At the first level, Voronoi-based approach provides a number sub-optimal paths in different homotopic groups. At the second, these paths are optimized in an iterative manner with regard to selected criteria weights. A new safety criterion is integrated into both levels of path planning to guarantee path safety, while further optimization of a safe path relatively to other criteria is secondary. The modified algorithm was implemented in Matlab environment and demonstrated significant advantages over the original algorithm.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Path planning	ru_RU
dc.subject	Voronoi diagram	ru_RU
dc.subject	potential field	ru_RU
dc.subject	mobile robot	ru_RU
dc.title	Modified spline-based navigation: Guaranteed safety for obstacle avoidance	ru_RU
dc.type	Articles in international journals and collections	ru_RU