» Download Article

Authors
Elias K. Xidias, Nikos A. Aspragathos

Identifier
10.3182/20060906-3-IT-2910.00011

Index Terms
motion planning,trajectory planning,mobile robots,configuration-time space,Bump-HyperSurface,genetic algorithms

Abstract
In this paper, we introduce a new approach based on the Bump-HyperSurface concept for global trajectory planning of a mobile robot moving in a 2D dynamic environment cluttered with a priori known static and moving obstacles with known trajectories. The proposed method generates a near-time optimal path from a start point to a destination point by performing a search on the Bump-HyperSurface constructed into the configuration-time space. The performance of the proposed method is investigated in simulated 2D environments cluttered with both static and moving obstacles.

References

[1] Azariadis, P. and N. Aspragathos (2005). Obstacle
    representation by Bump-Surface for optimal
    motion-planning. Journal of Robotics and
    Autonomous Systems, Vol. 51/2-3, 129-150.
[2] Coello, C., (2002). "Theoretical and Numerical
    Constraint-Handling Techniques used with
    Evolutionary Algorithms: A Survey of the state
    of the Art. Computer methods in Applied
    Mechanics and Engineering, 191, 1245-1287.
[3] Fujimura K. (1995). Time-minimum routes in time
    dependent networks. IEEE Transaction on
    Robotics and Automation, vol. 3, 343-351.
[4] GE S.S. and Y.J. CUI, (2002). Dynamic Motion
    Planning for Mobile Robots using Potential
    Fields Method. Autonomous Robots vol. 13, pp.
    207-222.
[5] Goldberg D.E., (1989). Genetic Algorithms in
    Search, Optimization and Machine Learning.
    Addison Wesley Publishing Company.
[6] Hsu, D., J.C. Latombe and R. Motwani (1999). Path
    planning in expansive configuration spaces.
    International Journal of Computational
    Geometry & Applications, vol. 9, pp. 495-512.
[7] LaValle Steven M., (2004). Planning Algorithms.
    University of Illinois.
[8] Piegl L., T. Wayne, (1997). The NURBS Book.
    Springer-Verlag Berlin Heidelberg.
[9] Xidias E. and N. Aspragathos, (2004). Bump-Hypersurfaces
     for optimal motion planning in
    3D spaces. Proceedings of RAAD'04, 13th
    International Workshop on Robotics in Alpe-Adria-Danude
     Region.
[10] Xidias E. and N. Aspragathos, (2005). Dynamic
     Motion Planning for Mobile Robots Using the
     Bump-Surface Concept. 2nd European
     Conference on Mobile Robots, Ancona, Italy.
[11] Xu B., D.Z. Chen and R.J. Szczerba, (2000).
     Determining optimal paths in a weighted and
     dynamic 2D environment using framed-octrees.
     Proceedings of the fourth international
     conference on Autonomous agents, Barcelona,
     Spain, pp. 29-30.