دورية أكاديمية
Graph-based robot optimal path planning with bio-inspired algorithms
| العنوان: | Graph-based robot optimal path planning with bio-inspired algorithms |
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| المؤلفون: | Tingjun Lei, Timothy Sellers, Chaomin Luo, Daniel W. Carruth, Zhuming Bi |
| المصدر: | Biomimetic Intelligence and Robotics, Vol 3, Iss 3, Pp 100119- (2023) |
| بيانات النشر: | Elsevier, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Electrical engineering. Electronics. Nuclear engineering LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | Autonomous robot, Path planning, Bio-inspired algorithm, Graph-based model, Improved seagull optimization algorithm (iSOA), Electrical engineering. Electronics. Nuclear engineering, TK1-9971, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | Recently, bio-inspired algorithms have been increasingly explored for autonomous robot path planning on grid-based maps. However, these approaches endure performance degradation as problem complexity increases, often resulting in lengthy search times to find an optimal solution. This limitation is particularly critical for real-world applications like autonomous off-road vehicles, where high-quality path computation is essential for energy efficiency. To address these challenges, this paper proposes a new graph-based optimal path planning approach that leverages a sort of bio-inspired algorithm, improved seagull optimization algorithm (iSOA) for rapid path planning of autonomous robots. A modified Douglas–Peucker (mDP) algorithm is developed to approximate irregular obstacles as polygonal obstacles based on the environment image in rough terrains. The resulting mDP-derived graph is then modeled using a Maklink graph theory. By applying the iSOA approach, the trajectory of an autonomous robot in the workspace is optimized. Additionally, a Bezier-curve-based smoothing approach is developed to generate safer and smoother trajectories while adhering to curvature constraints. The proposed model is validated through simulated experiments undertaken in various real-world settings, and its performance is compared with state-of-the-art algorithms. The experimental results demonstrate that the proposed model outperforms existing approaches in terms of time cost and path length. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2667-3797 |
| Relation: | http://www.sciencedirect.com/science/article/pii/S2667379723000335; https://doaj.org/toc/2667-3797 |
| DOI: | 10.1016/j.birob.2023.100119 |
| URL الوصول: | https://doaj.org/article/d2b21951e82e42ae8f4444f5feadfd01 |
| رقم الأكسشن: | edsdoj.2b21951e82e42ae8f4444f5feadfd01 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 26673797 |
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| DOI: | 10.1016/j.birob.2023.100119 |