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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

A novel global path planning method for robot based on dual-source light continuous reflection.

Jintao Ye¹, Lina Hao¹, Hongtai Cheng¹

¹School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China.

ISA Transactions

|May 16, 2024

Summary

This summary is machine-generated.

A new robot path planning algorithm, Dual-source Light Continuous Reflection Exploration (DSR), efficiently navigates narrow passages. DSR significantly reduces path length and time compared to existing methods.

Keywords:

Dual-source Global Light reflection Path planning Robot

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Area of Science:

Robotics
Artificial Intelligence
Computational Geometry

Background:

Robot path planning is crucial for autonomous navigation.
Environments with narrow passages pose significant challenges for existing path planning algorithms.
The need for efficient and optimal path planning methods in complex environments is growing.

Purpose of the Study:

To introduce a novel global path planning algorithm, Dual-source Light Continuous Reflection Exploration (DSR).
To address the limitations of current methods in handling narrow passages during robot path planning.
To generate asymptotically optimal paths in environments with complex topological features.

Main Methods:

The DSR algorithm is inspired by the principles of light reflection.
It utilizes a continuous reflection concept for exploring the environment.
Path planning is performed globally on the given map.

Main Results:

The DSR algorithm successfully generates asymptotically optimal paths in maps with narrow passages.
Compared to the bidirectional Rapidly-exploring Random Tree algorithm, DSR reduced path length by 27.08% and 34.35%.
DSR demonstrated substantial improvements in time consumption, reducing it by 98.47% and 91.03%.

Conclusions:

The DSR algorithm offers a significant advancement in robot path planning for environments with narrow passages.
Its performance is validated through numerical simulations and experimental analysis.
DSR provides an efficient and effective solution for complex navigation tasks.