Online Dynamic Smooth Path Planning for an Articulated Vehicle

Thaker Nayl, George Nikolakopoulos, Thomas Gustafsson

2013

Abstract

This article proposes a novel online dynamic smooth path planning scheme based on a bug like modified path planning algorithm for an articulated vehicle under limited and sensory reconstructed surrounding static environment. In the general case, collision avoidance techniques can be performed by altering the articulated steering angle to drive the front and rear parts of the articulated vehicle away from the obstacles. In the presented approach factors such as the real dynamics of the articulated vehicle, the initial and the goal configuration (displacement and orientation), minimum and total travel distance between the current and the goal points, and the geometry of the operational space are taken under consideration to calculate the update on the future way points for the articulated vehicle. In the sequel the produced path planning is being online and iteratively smoothen by the utilization of Bezier lines before producing the necessary rate of change for the vehicle’s articulated angle. The efficiency of the proposed scheme is being evaluated by multiple simulation studies.

References

  1. Buniyamin, N., Wan Ngah, W., Sariff, N., and Mohamad, Z. (2011). A simple local path planning algorithm for autonomous mobile robots. International journal of systems applications, Engineering & development, 5(2):151-159.
  2. Chaudhry, T., Gulrez, T., Zia, A., and Zaheer, S. (2010). Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots. In Intelligent Systems Design and Applications (ISDA), 2010 10th International Conference on, pages 1059- 1065. IEEE.
  3. Chazelle, B. (1987). Approximation and decomposition of shapes. Advances in Robotics, 1:145-185.
  4. Ge, S. and Cui, Y. (2000). New potential functions for mobile robot path planning. Robotics and Automation, IEEE Transactions on, 16(5):615-620.
  5. Guechi, E., Lauber, J., and Dambrine, M. (2008). On-line moving-obstacle avoidance using piecewise bezier curves with unknown obstacle trajectory. In Control and Automation, 2008 16th Mediterranean Conference on, pages 505-510. IEEE.
  6. Kamon, I., Rimon, E., and Rivlin, E. (1998). Tangentbug: A range-sensor-based navigation algorithm. The International Journal of Robotics Research, 17(9):934- 953.
  7. Kamon, I. and Rivlin, E. (1997). Sensory-based motion planning with global proofs. Robotics and Automation, IEEE Transactions on, 13(6):814-822.
  8. Lumelsky, V. and Skewis, T. (1990). Incorporating range sensing in the robot navigation function. Systems, Man and Cybernetics, IEEE Transactions on, 20(5):1058-1069.
  9. Lumelsky, V. and Stepanov, A. (1986). Dynamic path planning for a mobile automaton with limited information on the environment. Automatic Control, IEEE Transactions on, 31(11):1058-1063.
  10. Nayl, T., Nikolakopoulos, G., and Guastafsson, T. (2011). Kinematic modeling and simulation studies of a lhd vehicle under slip angles. In Computational Intelligence and Bioinformatics/755: Modelling, Identification, and Simulation. ACTA Press.
  11. Ng, J. and Bräunl, T. (2007). Performance comparison of bug navigation algorithms. Journal of Intelligent & Robotic Systems, 50(1):73-84.
  12. Nilsson, N. (1969). A mobile automaton: An application of artificial intelligence techniques. Technical report, DTIC Document.
  13. Roberts, J., Duff, E., Corke, P., Sikka, P., Winstanley, G., and Cunningham, J. (2000). Autonomous control of underground mining vehicles using reactive navigation. In Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, volume 4, pages 3790-3795. IEEE.
  14. Scheding, S., Dissanayake, G., Nebot, E., and DurrantWhyte, H. (1999). An experiment in autonomous navigation of an underground mining vehicle. Robotics and Automation, IEEE Transactions on, 15(1):85-95.
  15. S?krjanc, I. and Klanc?ar, G. (2010). Optimal cooperative collision avoidance between multiple robots based on bernstein-bézier curves. Robotics and Autonomous systems, 58(1):1-9.
  16. Usher, K. (2006). Obstacle avoidance for a non-holonomic vehicle using occupancy grids. In 2006 Australasian Conference on Robotics and Automation.
Download


Paper Citation


in Harvard Style

Nayl T., Nikolakopoulos G. and Gustafsson T. (2013). Online Dynamic Smooth Path Planning for an Articulated Vehicle . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 177-183. DOI: 10.5220/0004438301770183


in Bibtex Style

@conference{icinco13,
author={Thaker Nayl and George Nikolakopoulos and Thomas Gustafsson},
title={Online Dynamic Smooth Path Planning for an Articulated Vehicle},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={177-183},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004438301770183},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Online Dynamic Smooth Path Planning for an Articulated Vehicle
SN - 978-989-8565-71-6
AU - Nayl T.
AU - Nikolakopoulos G.
AU - Gustafsson T.
PY - 2013
SP - 177
EP - 183
DO - 10.5220/0004438301770183