Mobile Robot Path Planning

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Mobile Robot Path Planning

• An overview on
• Path planning
• and Obstacle avoidance
• for mobile robots

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Considerations
Turning radius or radii? (ICR)

• Correctness
• Completeness
• Configuration Space

• a priori information
• Obstacles
• Boundaries
• Assume static environment

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(No Transcript)
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Explicit

• Visibility Graph

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Explicit

• Visibility Graph

Complexity Number of edgesproportional tonumber
of visible edges Pros/Cons
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Explicit

• Voronoi Diagram

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Explicit

• Voronoi Diagram

Complexity Density of objects Pros/Cons
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Start of Implicitly

• Potential Fields
• Cell Decomposition

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Obstacle Avoidance

• Follow obstacle until ideal point is found
• Continuous loops not very efficient but it is
  correct and complete
• Easy to program

• Bug1, Bug2

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Obstacle Avoidance

• A, D
• Heuristics

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Obstacle Avoidance

• Dynamic Window

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Episodic Planning

• On-the-fly

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Episodic Planning O3

• Explicit

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Episodic Planning O3

• Implicit

S Opportunity lt S Original _at_ point P
Opportunity AP, Ph, P1, T1, T2 Original
AP, P2, T1, T1, P1, Th
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Case Study Wunderbot 4
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GPS Calculations

• To find the scalar product we need the
  coordinates of the two points. Set up a three
  dimensional coordinate system with the x-axis in
  the longitudinal plane of OA and the xy plane
  containing the equator, the z-axis along the
  earth's axis. With this system, the coordinates
  of A will be Rcos(latA), 0, Rsin(latA) and
  the coords of B will be Rcos(latB)cos(lonB-lonA)
  ,Rcos(latB)sin(lonB-lonA),Rsin(latB) The scalar
  product is given by xAxB yAyB zAzB
  R2cos(latA)cos(latB)cos(lonB-lonA)
  R2sin(latA)sin(latB) Dividing out R2 will
  give cos(AOB) cos(AOB) cos(latA)cos(latB)cos(l
  onB-lonA)sin(latA)sin(latB) This gives AOB,
  and the great circle distance between A and B
  will be R(AOB) with AOB in radians.