Abstract
Potential function based methods play significant role in both global and local path planning. While these methods are characterized with good reactive behaviour and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this paper we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm and present a path finding strategy within different homotopies that uses the new method. The algorithm was implemented in Matlab environment and demonstrated significantly better results than the original approach. The comparison was based on success rate, number of iterations and running time of the algorithms. In total, several thousands tests were performed in 18 different simulated environments.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Andrews, J.R., Hogan, N.: Impedance control as a framework for implementing obstacle avoidance in a manipulator. Master’s thesis, Department of Mechanical Engineering, M.I.T. (1983)
Buyval, A., Afanasyev, I., Magid, E.: Comparative analysis of ROS-based monocular SLAM methods for indoor navigation. In: Proceedings of 9th International Conference on Machine Vision (2016)
Choset, H.M.: Principles of Robot Motion: Theory, Algorithms, and Implementation. MIT Press, Cambridge (2005)
Cormen, T.H.: Introduction to Algorithms. MIT Press, Cambridge (2009)
Dijkstra, E.W.: A note on two problems in connexion with graphs. Numerische Mathematik 1(1), 269–271 (1959)
Elbanhawi, M., Simic, M., Jazar, R.N.: Continuous path smoothing for car-like robots using b-spline curves. J. Intell. Robot. Syst. 80(1), 23–56 (2015)
Fleury, S., Soueres, P., Laumond, J.-P., Chatila, R.: Primitives for smoothing mobile robot trajectories. IEEE Trans. Robot. Autom. 11(3), 441–448 (1995)
Khatib, O., Siciliano, B.: Springer Handbook of Robotics. Springer, Berlin (2016)
Lagarias, J.C., Reeds, J.A., Wright, M.H., Wright, P.E.: Convergence properties of the nelder-mead simplex method in low dimensions. SIAM J. Optim. 9(1), 112–147 (1998)
Latombe, J.-C.: Robot Motion Planning, vol. 124. Springer Science & Business Media, Berlin (2012)
Tang, L., Dian, S., Gu, G., Zhou, K., Wang, S., Feng, X.: A novel potential field method for obstacle avoidance and path planning of mobile robot. In: Proceedings of 3rd IEEE International Conference on Computer Science and Information Technology, vol. 9, pp. 633–637. IEEE (2010)
Magid, E., Keren, D., Rivlin, E., Yavneh, I.: Spline-based robot navigation. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2296–2301. IEEE (2006)
Magid, E., Lavrenov, R., Khasianov, A.: Modified spline-based path planning for autonomous ground vehicle. In: Proceedings of 14th International Conference on Informatics in Control, Automation and Robotics (2017)
Magid, E., Rivlin, E.: CAUTIOUSBUG: a competitive algorithm for sensory-based robot navigation. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2757–2762 (2004)
Magid, E., Tsubouchi, T., Koyanagi, E., Yoshida, T.: Building a search tree for a pilot system of a rescue search robot in a discretized random step environment. J. Robot. Mech. 23(4), 567 (2011)
Pipe, A., Dailami, F., Melhuish, C.: Crucial challenges and groundbreaking opportunities for advanced HRI. In: Proceedings of IEEE/SICE International Symposium on System Integration, pp. 12–15. IEEE (2014)
Rosenfeld, A., Agmon, N., Maksimov, O., Azaria, A., Kraus, S.: Intelligent agent supporting human-multi-robot team collaboration. In: Proceedings of the 24th International Conference on Artificial Intelligence, pp. 1902–1908. AAAI Press (2015)
Seraji, H.: Traversability index: a new concept for planetary rovers. In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 3, pp. 2006–2013. IEEE (1999)
Toth, C.D., O’Rourke, J., Goodman, J.E.: Handbook of Discrete and Computational Geometry. CRC Press, Boca Raton (2004)
Yakovlev, K., Khithov, V., Loginov, M., Petrov, A.: Distributed control and navigation system for quadrotor UAVs in GPS-denied environments. In: Proceedings of the 7th IEEE International Conference on Intelligent Systems, pp. 49–56. Springer International Publishing, Berlin (2015)
Acknowledgement
This work was partially supported by the Russian Foundation for Basic Research (RFBR) and Ministry of Science Technology & Space State of Israel (joint project ID 15-57-06010). Part of the work was performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Magid, E., Lavrenov, R., Svinin, M., Khasianov, A. (2020). Combining Voronoi Graph and Spline-Based Approaches for a Mobile Robot Path Planning. In: Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics . ICINCO 2017. Lecture Notes in Electrical Engineering, vol 495. Springer, Cham. https://doi.org/10.1007/978-3-030-11292-9_24
Download citation
DOI: https://doi.org/10.1007/978-3-030-11292-9_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-11291-2
Online ISBN: 978-3-030-11292-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)