Reactive Path Planning Approach for Docking Robots in Unknown Environment
Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficu...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
|
| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2017/6716820 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850157255005044736 |
|---|---|
| author | Peng Cui Weisheng Yan Yintao Wang |
| author_facet | Peng Cui Weisheng Yan Yintao Wang |
| author_sort | Peng Cui |
| collection | DOAJ |
| description | Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF) to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach. |
| format | Article |
| id | doaj-art-2d172bd41f7b4fe4bb562bd32964cffe |
| institution | OA Journals |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-2d172bd41f7b4fe4bb562bd32964cffe2025-08-20T02:24:14ZengWileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/67168206716820Reactive Path Planning Approach for Docking Robots in Unknown EnvironmentPeng Cui0Weisheng Yan1Yintao Wang2School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaAutonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF) to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.http://dx.doi.org/10.1155/2017/6716820 |
| spellingShingle | Peng Cui Weisheng Yan Yintao Wang Reactive Path Planning Approach for Docking Robots in Unknown Environment Journal of Advanced Transportation |
| title | Reactive Path Planning Approach for Docking Robots in Unknown Environment |
| title_full | Reactive Path Planning Approach for Docking Robots in Unknown Environment |
| title_fullStr | Reactive Path Planning Approach for Docking Robots in Unknown Environment |
| title_full_unstemmed | Reactive Path Planning Approach for Docking Robots in Unknown Environment |
| title_short | Reactive Path Planning Approach for Docking Robots in Unknown Environment |
| title_sort | reactive path planning approach for docking robots in unknown environment |
| url | http://dx.doi.org/10.1155/2017/6716820 |
| work_keys_str_mv | AT pengcui reactivepathplanningapproachfordockingrobotsinunknownenvironment AT weishengyan reactivepathplanningapproachfordockingrobotsinunknownenvironment AT yintaowang reactivepathplanningapproachfordockingrobotsinunknownenvironment |