• Title, Summary, Keyword: 3-D Path Planning

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An Efficient 3-D Path Planning Algorithm for Robot Navigation (능률적인 3차원 경로계획 알고리즘 개발에 관한 연구)

  • Lee, S.C.;Yang, W.Y.;Kim, Y.H.
    • Proceedings of the KIEE Conference
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    • pp.1208-1211
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    • 1996
  • In this paper, an efficient and robust robot path planning technique is discussed. Concentric Ripple Edge Evaluation and Progression( CREEP ) algorithm[1] has been elaborated and expanded to carry out 3-D path planning. Like the 2-D case, robot can always find a path, if one exists, in a densely cluttered, unknown and unstructured 3-D obstacle environment. 3-D space in which the robot is expected to navigate is modeled by stacking cubic cells. The generated path is resolution optimal once the terrain is fully explored by the robot or all the information about the terrain is given. Path planning times are significantly reduced by local path update. Accuracy and efficiency of wave propagation in CREEP algorithm are achieved by virtual concentric sphere wave propagation. Simulations in 2-D and 3-D spaces are performed and excellent results are demonstrated.

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Semi-3D Path Planning using Virtual Tangential Vector and Fuzzy Control (Virtual Tangential Vector와 퍼지 제어를 이용한 준 3차원 경로계획)

  • Kwak, Kyung-Woon;Jeong, Hae-Kwan;Kim, Soo-Hyun
    • The Journal of Korea Robotics Society
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    • v.5 no.2
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    • pp.127-134
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    • 2010
  • In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.

A Design of Path Planning Algorithm for Biped Walking Robot in 3-D Obstacle Environment (3차원 장애물에서의 이족보행로봇을 위한 이동경로계획 알고리즘의 설계)

  • Min, Seung-Ki;Kim, Dae-Won
    • Proceedings of the KIEE Conference
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    • pp.576-580
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    • 1997
  • This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

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Three-dimensional Energy-Aware Path Planning for Quadcopter UAV (쿼드콥터 소모 에너지를 비용함수로 하는 3차원 경로계획)

  • Kim, Hyowon;Jeong, Jinseok;Kang, Beomsoo
    • Journal of Aerospace System Engineering
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    • v.14 no.5
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    • pp.9-17
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    • 2020
  • Mobile robots, including UAVs perform missions with limited fuel. Therefore, the energy-aware path planning is required to maximize efficiency when the robot is operated for a long time. In this study, we estimated the power consumption for each maneuver of a quadcopter UAV in the 3D environment and applied to the cost functions of D Lite. The simulations were performed in a 3D environment that is similar to the industrial sites. The efficiency of path generation was high when the energy-aware path planning with simplified heuristic was applied. In addition, the energy-aware path was generated 19.3 times faster than the shortest path with a difference within 3.2%.

3-Dimensional Path Planning and Guidance using the Dubins Curve for an 3-DOF Point-mass Aircraft Model (Dubins 곡선을 이용한 항공기 3자유도 질점 모델의 3차원 경로계획 및 유도)

  • O, Su-Hun;Ha, Chul-Su;Kang, Seung-Eun;Mok, Ji-hyun;Ko, Sangho;Lee, Yong-Won
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.24 no.1
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    • pp.1-9
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    • 2016
  • In this paper, we integrate three degree of freedom(3DOF) point-mass model for aircraft and three-dimensional path generation algorithms using dubins curve and nonlinear path tracking law. Through this integration, we apply the path generation algorithm to the path planning, and verify tracking performance and feasibility of using the aircraft 3DOF point-mass model for air traffic management. The accuracy of modeling 6DOF aircraft is more accurate than that of 3DOF model, but the complexity of the calculation would be raised, in turn the rate of computation is more likely to be slow due to the increase of degree of freedom. These obstacles make the 6DOF model difficult to be applied to simulation requiring real-time path planning. Therefore, the 3DOF point-mass model is also sufficient for simulation, and real-time path planning is possible because complexity can be reduced, compared to those of the 6DOF. Dubins curve used for generating the optimal path has advantage of being directly available to apply path planning. However, we use the algorithm which extends 2D path to 3D path since dubins curve handles the two dimensional path problems. Control law for the path tracking uses the nonlinear path tracking laws. Then we present these concomitant simulation results.

Genetic Algorithm Based 3D Environment Local Path Planning for Autonomous Driving of Unmanned Vehicles in Rough Terrain (무인 차량의 험지 자율주행을 위한 유전자 알고리즘 기반 3D 환경 지역 경로계획)

  • Yun, SeungJae;Won, Mooncheol
    • Journal of the Korea Institute of Military Science and Technology
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    • v.20 no.6
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    • pp.803-812
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    • 2017
  • This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

Developments of a Path Planning Algorithm and Simulator for Unmanned Ground Vehicle (무인자율차량을 위한 경로계획 알고리즘 및 시뮬레이터 개발)

  • Kim, Sang-Gyum;Kim, Sung-Gyun;Lee, Yong-Woo
    • Transactions of the Korean Society of Automotive Engineers
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    • v.15 no.3
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    • pp.1-9
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    • 2007
  • A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.

Any-angle Path Planning Algorithm considering Angular Constraint for Marine Robot (해양 로봇의 회전 반경을 고려한 경로 계획 알고리즘)

  • Kim, Han-Guen;Myung, Hyun;Choi, Hyun-Taek
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.4
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    • pp.365-370
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    • 2012
  • Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

Planning of Safe and Efficient Local Path based on Path Prediction Using a RGB-D Sensor (RGB-D센서 기반의 경로 예측을 적용한 안전하고 효율적인 지역경로 계획)

  • Moon, Ji-Young;Chae, Hee-Won;Song, Jae-Bok
    • The Journal of Korea Robotics Society
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    • v.13 no.2
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    • pp.121-128
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    • 2018
  • Obstacle avoidance is one of the most important parts of autonomous mobile robot. In this study, we proposed safe and efficient local path planning of robot for obstacle avoidance. The proposed method detects and tracks obstacles using the 3D depth information of an RGB-D sensor for path prediction. Based on the tracked information of obstacles, the paths of the obstacles are predicted with probability circle-based spatial search (PCSS) method and Gaussian modeling is performed to reduce uncertainty and to create the cost function of caution. The possibility of collision with the robot is considered through the predicted path of the obstacles, and a local path is generated. This enables safe and efficient navigation of the robot. The results in various experiments show that the proposed method enables robots to navigate safely and effectively.

A Development of Simulation System for 3D Path Planning of UUV (무인잠수정의 3차원 경로계획을 위한 시뮬레이션 시스템 개발)

  • Shin, Seoung-Chul;Seon, Hwi-Joon
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • pp.701-704
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    • 2010
  • In studying an autonomous navigation technique of UUV(Unmaned Underwater Vehicle), one of the many fundamental techniques is to plan a 3D path to complete the mission via realtime information received by sonar showing landscapes and obstacles. The simulation system is necessary to verify the algorithm in researching and developing 3D path planning of UUV. It is because 3D path planning of UUV should consider guide control, the dynamics, ocean environment, and search sonar models on the basis of obstacle avoidance technique. The simulation system developed in this paper visualizes the UUV's movement of avoiding obstacles, arriving at the goal position via waypoints by using C++ and OpenGL. Plus, it enables the user to setup the various underwater environment and obstacles by a user interface. It also provides a generalization that can verify path planning algorithm of UUV studied in any developing environment.

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