|Table of Contents|

Path Planning Based on Fuzzy Rolling Rapidly-exploring Random Tree for Mobile Robot

《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

Issue:
2010年05期
Page:
642-648
Research Field:
Publishing date:

Info

Title:
Path Planning Based on Fuzzy Rolling Rapidly-exploring Random Tree for Mobile Robot
Author(s):
KANG Liang; ZHAO Chun-xia; GUO Jian-hui
School of Computer Science and Technology,NUST,Nanjing 210094,China
Keywords:
mobile robots;  path planning;  fuzzy control;  rolling plan;  rapidly-exploring random tree
PACS:
TP242
DOI:
-
Abstract:
The mobile robot path planning in an unknown environment is studied.The rapidly-exploring random tree(RRT) algorithm is combined with the rolling path planning in the planning,and a novel path planning is proposed.It is performed on-line in a rolling style,so that the RRT algorithm can be used in path planning not only when the environment is known but also unknown.Only the local environment map is calculated in planning so as to improve the planning efficiency,and the real time is guaranteed.Owing to lack of certainty in path planning of RRT,the random configuration using both fuzzy control theory and human experience is forced to coincide with the desired area with some finite probability.The algorithm has introduced the heuristic evaluation function so that the exploring random tree will grow in the direction of target point.The regression analysis,which avoids local minima,enhances the capability of searching an unknown space.The method effectiveness is verified by simulation results.

References:

[ 1] 孙迪生, 王炎. 机器人控制技术[M ]. 北京: 机械工业出版社, 1997.
[ 2] LaVa lle SM. Planning Algor ithm s[M ]. Cambr idg e: C ambr idgeUn ive rsity Press, 2006.
[ 3] LaVa lle SM. Rapidly-exp lo ring random trees: a new too l for path planning[ R] . Iowa: Iow a Sta teUn ivers-i ty, 1998.
[ 4] LaVa lle SM, Kuffner J. Rapidly-explo ring random trees: progress and prospects[A]. Proceeding s o f the 4th Interna tionalWorkshop on A lgor ithm ic Foundations o f Robo-t ics (WAFR) [ C ]. Dartmouth: Journal of Robotics Research, 2000.
[ 5] 张纯刚, 席裕庚. 全局环境未知时基于滚动窗口的机器人路径规划[ J]. 中国科学( E 缉), 2001, 31( 1) : 51- 58.
[ 6] Laumond J P, Sekhavat S, Lam iraux F. Gu idelines in nonho lonom ic mo tion plann ing for m ob ile robots[M ]. H e ide lberg: Spr inge r, 1998.
[ 7] N ik AM, Reid S. Partic leRRT for path p lann ing w ith uncerta inty [ A ]. Pro ceedings of IEEE Inte rnational Conference on Robo tics and Autom ation [ C ]. Rom a: IEEE Serv ice Center, 2007: 1617- 1624.
[ 8] Kuffne r J J, LaVa lle SM. RRT-connect: an effic ient approach to s ing le-query path plann ing [ A ]. Proceeding s o f IEEE Interna tiond Conference on Robo tics and Autom ation[ C ]. Sam Francisco: IEEE Serv ice Cente r, 2000: 995- 1001.
[ 9] Peng C. Reducing RRT metric sensitiv ity for mo tion p lann ing w ith d iffe rentia l constra ints[ D]. Iow a: Department o f Com pute r Sc ience, Iow a S tate Un iversity, 2001.
[ 10] de Sm ith J. D istance and path: the deve lopm ent, interpretation and application of distancem easurem ent in mapp ing and mode ling [ D ]. London: Un iversity Co-l lege, Un iversity o f London, 2003.
[ 11] AmnaA, Ashraf E. A prac tica-l evasion algor ithm: detection and track ing [ A ]. Proceedings of IEEE Int. l Conf on Robotics and Autom ation [ C]. Rom a, Ita ly: IEEE Serv ice Center, 2007. 343- 348.
[ 12] Urm son C. Locally random ized kinodynam icmotion planning for robo ts in extrem e terra in[D]. CMU, 2002.
[ 13] 席裕庚. 动态不确定环境下广义控制问题的预测控制[ J]. 控制理论与应用, 2007, 17( 5): 665- 670.
[ 14] 赵春霞, 唐振民, 陆建峰, 等. 面向自主车辆的局部路径规划仿真系统[ J]. 南京理工大学学报(自然科学版), 2002, 26( 6): 570- 574.
[ 15] KalisiakM, PanneM van de. RRT-Blossom RRT w ith a loca l flood- fill behavior[ A]. Proceedings of IEEE Inte rna tiona l Conference on Robo tics and Automation [ C ]. Or lando, Flor ida: IEEE Serv ice C enter, 2006.
[ 16] Kazuo S, John S. Genetic algorithm s for adaptive m otion p lanning of an autonomousm ob ile robo ts[ A]. Proceed ing of the IEEE International Symposium on Computa tiona l Intellig ence in Robotics and Automation[ C ]. M onterey: IEEE Serv ice Center, 1997: 138- 143.
[ 17] H ow ie C, Joel B. Senso r-based explo ra tion: incrementa l construction o f the hierarch ica l genera lized Vo rono i graph[ J] . The Interna tiona l Journal o f Robotics Research, 2000, 19( 2): 126- 145.
[ 18] Rafae lA, Igo rF, Josu A, et a.l A new APF strategy for path plann ing in environm entsw ith obstac les[ J]. Mechanism andM achineTheory, 2005, 40( 6): 645- 658.
[ 19 ] E ttlin A, B leu ler H. Random ized rough- terra in robo t mo tion planning [ A ]. Proceed ings o f the IEEE /RSJ Internationa l Con ference on Intelligen tRobo ts and System s[ C]. Be ijing: IEEE Serv ice Center, 2006.

Memo

Memo:
-
Last Update: 2012-11-02