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001-es BibID:BIBFORM121813
035-os BibID:(Scopus)85179364062
Első szerző:Al-Ansarry, Suhaib
Cím:An Efficient Path Planning in Uncertainty Environments using Dynamic Grid-Based and Potential Field Methods / Suhaib Al-Ansarry, Salah Al-Darraji, Dhafer Honi
Dátum:2023
ISSN:1814-5892 2078-6069
Megjegyzések:Abstract Path planning is an essential concern in robotic systems, and it refers to the process of determining a safe and optimal path starting from the source state to the goal one within dynamic environments. We proposed an improved path planning method in this article, which merges the Dijkstra algorithm for path planning with Potential Field (PF) collision avoidance. In real-time, the method attempts to produce multiple paths as well as determine the suitable path that's both short and reliable (safe). The Dijkstra method is employed to produce multiple paths, whereas the Potential Field is utilized to assess the safety of each route and choose the best one. The proposed method creates links between the routes, enabling the robot to swap between them if it discovers a dynamic obstacle on its current route. Relating to path length and safety, the simulation results illustrate that Dynamic Dijkstra-Potential Field (Dynamic D-PF) achieves better performance than the Dijkstra and Potential Field each separately, and going to make it a promising solution for the application of robotic automation within dynamic environments
Tárgyszavak:Műszaki tudományok Informatikai tudományok idegen nyelvű folyóiratközlemény külföldi lapban
folyóiratcikk
Robotic
Path Planning
Dijkstra
Potential Field
Static Obstacle
Dynamic Environment
Megjelenés:Iraqi Journal for Electrical and Electronic Engineering. - 19 : 2 (2023), p. 90-99. -
További szerzők:Al-Darraji, Salah Alshuwaili, Dhafer Gheni Honi (1991) (Informatics)(PhD)
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001-es BibID:BIBFORM121055
035-os BibID:(WOS)001053763200001 (Scopus)85163554647
Első szerző:Al-Ansarry, Suhaib
Cím:Bi-Directional Adaptive Probabilistic Method With a Triangular Segmented Interpolation for Robot Path Planning in Complex Dynamic-Environments / Suhaib Al-Ansarry, Salah Al-Darraji, Asmaa Shareef, Dhafer G. Honi, Francesca Fallucchi
Dátum:2023
ISSN:2169-3536
Megjegyzések:Path planning is a fundamental aspect of mobile robots and autonomous systems. Methods of path planning are used in robotics to create a path for a robot or autonomous system to follow from a starting position to a goal one while avoiding obstacles and satisfying any additional conditions. There are many different methods to plan the path, including probabilistic methods, heuristics-based approaches, and optimization-based methods. In this paper, we introduce a novel path planning method called Dynamic Adaptive RRT-connect with Triangular Segmented Interpolation. Our approach aims to enhance the conven- tional Rapidly-exploring Random Tree (RRT) algorithms by incorporating an Adaptive-RRT strategy. This strategy involves selecting a random node as a new node to augment the exploration of the tree, thereby improving its coverage of the search space. Furthermore, we employ a Bi-directional scheme to further enhance the convergence time and cost of our method. By exploring the search space from both the initial and goal configurations simultaneously, we exploit the advantages of a two-way search, potentially resulting in more efficient and optimized paths. To improve the quality of the generated paths, our method leverages the Triangular Segmented Interpolation (TSI) technique. TSI helps in reducing the path length and increasing its smoothness by interpolating between the configurations in a triangular segmented manner, resulting in more natural and feasible trajectories. Moreover, considering the dynamic nature of the environment, our method operates within the framework of the Dynamic Window Approach (DWA). By adapting to the changing environment, our approach effectively avoids dynamic obstacles and navigates the robot or system through complex and unpredictable scenarios. We have conducted extensive experiments in various environments to evaluate the performance of our proposed method. The results demonstrate that our approach outperforms the individual RRT and RRT-connect algorithms in terms of computation time (reduced by 90-80%), cost (reduced by 82-63%), and path length (shortened by 17-12%). Additionally, our method exhibits efficient obstacle avoidance capabilities, enabling successful navigation in dynamic environments.
Tárgyszavak:idegen nyelvű folyóiratközlemény külföldi lapban
folyóiratcikk
Autonomous system
dynamic obstacles
interpolation
probabilistic methods
robot path planning
Megjelenés:IEEE Access. - 11: (2023), p. 87747 - 87759. -
További szerzők:Al-Darraji, Salah Shareef, Asmaa Alshuwaili, Dhafer Gheni Honi (1991) (Informatics)(PhD) Fallucchi, Francesca
Internet cím:Szerző által megadott URL
DOI
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