Time-efficient path planning using two virtual robots. (16th November 2019)

• Record Type: Journal Article
• Authors: Kim, Jonghoek
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 6(2019:Nov./Dec.)
• Publication Date: 2019-11-16
• Subjects: Fast path plan -- virtual robot -- topological map -- safe path plan; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419886742
• Languages: English
• ISSNs: 1729-8806

Abstract

This article introduces time-efficient path planning algorithms handling both path length and safety within a reasonable computational time. The path is planned considering the robot's size so that as the robot traverses the constructed path, it doesn't collide with an obstacle boundary. This article introduces two virtual robots deploying virtual nodes which discretize the obstacle-free space into a topological map. Using the topological map, the planner generates a safe and near-optimal path within a reasonable computational time. It is proved that our planner finds a safe path to the goal in finite time. Using MATLAB simulations, we verify the effectiveness of our path planning algorithms by comparing it with the rapidly-exploring random tree (RRT)-star algorithm in three-dimensional environments.