Reference Path Generation and Obstacle Avoidance for Autonomous Vehicles Based on Waypoints, Dubins Curves and Virtual Force Field Method
DOI:
Keywords:
Path generation, Dubins curves, waypoints, obstacle avoidanceAbstract
In this study, reference path generation based on waypoints, Dubins curves and obstacle avoidance are focused. The motion of a wheeled robot vehicle is modeled by following the principles of point mass approach. While motion planning is performed, the importance of obtaining the shortest distance between two target points is illustrated. Dubins curves and waypoints are used to construct an optimum path generation strategy. Path planning algorithm developed is combined with an obstacle avoidance approach, known as the virtual force field method. The whole system was tested for different scenarios. In the first scenario, the path generation was tested for the case where obstacles, start and finish points of the reference path, and initial and final robot vehicle orientations were defined. In this case, waypoints were not specified. In the second scenario, the performance of the algorithm was tested for generating a complete reference path. Waypoints were specified and the shortest path between the start and end points of the desired path was generated. Successful results were obtained and presented in this paper.Downloads
References
LaValle S. M. Planning Algorithms, 1st ed. New York, NY: Cambridge Unv. Press, 2006, ch. 15.
Luca A. D., Oriolo G., Samson C. Robot Motion Planning and Control-Lecture Notes in Control and Information Sciences, New York: Springer-Verlag, 1998, ch. 4, pp. 171-253.
Ma X., Castanon D. A. Receding horizon planning for Dubins traveling salesman problems, in Proc. 45th IEEE Conference on Decision and Control, San Diego, CA, USA, 2006, pp. 5453-5458.
Yong C., Barth E. J. Real-time dynamic path planning for Dubins’ nonholomonic robot, in Proc. 45th IEEE Conference on Decision and Control, San Diego, CA, USA, 2006, pp. 2418-2423.
Isaacs J. T., Klein D. J., Hespanha P. Algorithms for the travelling salesman problem with neighborhoods involving a Dubins vehicle, in Proc. 2011 American Control Conference, San Francisco, CA, USA, 2011, pp. 1704, 1709.
Grymin D. J., Crassidis A. L. Simplified model development and trajectory determination for a UAV using Dubins set, in Proc. AIAA Atmospheric Flight Mechanics Conference, Chicago, IL, USA, 2009, pp. 1339-1149.
Olunloyo V. O. S., Ayomoh M. K. O. Autonomous mobile robot navigation using hybrid virtual force field concept, European Journal of Scientific Research, vol. 31, no. 2, pp. 204-228, 2009.
Borenstein J., Koren Y. The vector field histogram – fast obstacle avoidance for mobile robots, IEEE Journal of Robotics and Automation, vol. 7, no. 3, pp. 278-288, June 1991.
Borenstein J., Koren Y. Real-time obstacle avoidance for fast mobile robots, IEEE Transactions on Systems, Man, and Cybernetics, vol. 19, no. 5, pp. 1179-1187, September/October 1989.
Ma Z., Yuan Z. Real-time navigation and obstacle avoidance based on grids method for fast mobile robots, Engineering Applications and Artificial Intelligence, vol. 8, no. 1, pp. 91-95, 1995.
Oroko J. A., Nyakoe G. N. Obstacle avoidance and path planning schemes for autonomous navigation of a mobile robot: a review, in Proc. 2012 Mechanical Engineering Conference on Sustainable Research and Innovation, vol. 4, 2012, pp. 314-318.
Khatib O. Real-time obstacle avoidance for manipulators and mobile robots, in Proc. 1985 IEEE International Conference on Robotics and Automation, St. Louis, Missouri, USA, 1985, pp. 500-505.
Moravec H. P. Sensor fusion in certainty grids for mobile robots, AI Magazine, vol. 9, no. 2, pp. 61-74, 1988.
Downloads
Published
Issue
Section
License
Copyright (c) 2017 International Journal of Applied Methods in Electronics and Computers
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
