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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Automatic path planning for a mobile robot among obstacles of arbitrary shape.

J L Diaz de Leon S¹, J H Sossa A

¹Centro de Investigacion en Comput., Univ. Profesional Adolfo Lopez Mateos.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|February 8, 2008

Summary

This study introduces a novel, fast path planning method for mobile robots (MR) navigating complex environments. The approach efficiently generates collision-free paths by leveraging topological methods and fast distance transformation for improved robot navigation.

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Area of Science:

Robotics
Artificial Intelligence
Computer Science

Background:

Mobile robot navigation in environments with arbitrary obstacles presents significant computational challenges.
Existing path planning methods often struggle with efficiency and the ability to intrinsically incorporate robot and target into pathfinding.

Purpose of the Study:

To develop a novel and fast path planning method for mobile robots (MR) capable of navigating environments with arbitrarily shaped objects.
To improve the efficiency and intrinsic path generation capabilities compared to conventional methods.

Main Methods:

A two-phase approach: 1. Graph generation of all collision-free paths using topological methods (thinning, skeletonization) and fast distance transformation (FDT). 2. Optimal path selection and smoothing.
Utilizes a logical operator over FDT instead of classical morphologic operators for enhanced speed.
Leverages the topological concept of 'hole' for intrinsic inclusion of MR and target in pathfinding.

Main Results:

Successfully obtains a graph of collision-free paths efficiently.
The proposed method is significantly faster than conventional approaches due to the use of logical operators over FDT.
The generated path intrinsically includes the mobile robot and target, considering the environment's topology.

Conclusions:

The novel path planning method offers a fast and efficient solution for mobile robot navigation in complex environments.
The integration of topological concepts and FDT provides a robust approach for generating collision-free paths.
This method enhances mobile robot autonomy by providing a reliable reference path for navigation.