Mohammed Rabeea Hashim AL-DAHHAN, Klaus Werner SCHMIDT

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

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

Path planning algorithms for mobile robots are concerned with finding a feasible path between astart and goal location in a given environment without hitting obstacles. In the existing literature, importantperformance 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 contributionof the paper, we develop three new sampling-based path planning algorithms that address all of the statedperformance metrics. The original idea of the paper is the computation of a modified environment map thatconfines solution paths to the vicinity of the Voronoi boundary of the given environment. Using this modifiedenvironment map, we adapt the sampling strategy of the popular path planning algorithms PRM (probabilisticroadmap), PRM* and FMT (fast marching tree). As a result, we are able to generate solution paths with areduced computation time and increased path safety. Computational experiments with different environmentsshow that the proposed algorithms outperform state-of-the-art algorithms.
Keywords:

Path planning, omni-directional robots sampling-based algorithms, Voronoi diagram,

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Cankaya University Journal of Science and Engineering-Cover
  • Yayın Aralığı: Yılda 2 Sayı
  • Başlangıç: 2009
  • Yayıncı: Çankaya Üniversitesi
Arşiv
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