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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2019, Vol. 1 Issue (2): 55-62    
    
FreeD*：一种寻找距离短且无碰撞路径的机制
Mohammed Al-darwbi1, Uthman Baroudi2
1 Department of Computer Science, New Brunswick University, New Brunswick, Canada  2 Computer Engineering Department, King Fahd University of Petroleum & Minerals, Dhahran, Kingdom of Saudi Arabia
FreeD*: a mechanism for finding a short and collision free path
Mohammed Al-darwbi1, Uthman Baroudi2
1 Department of Computer Science, New Brunswick University, New Brunswick, Canada  2 Computer Engineering Department, King Fahd University of Petroleum & Minerals, Dhahran, Kingdom of Saudi Arabia
 全文: PDF 
摘要： 路径规划不仅广泛应用于机器人领域，也广泛应用于游戏、制造、汽车等领域。机器人路径规划是自主移动机器人领域的主要研究课题之一。路径规划问题的关键步骤是通过已知、未知或部分已知的环境，找到从起始位置到目标位置的最短路径。危险事件可能会破坏计划区域的某些部分，将这些区域转变为不可穿越的区域。由于损坏前后的环境信息差异，这些事件在机器人的运动中引入了拓扑约束。在这项研究中，作者提出了一种新的方法，FreeD*，利用D*、Dijkstra和人工势场（APF）算法的优点来寻找最短路径。使用Dijkstra算法，通过将没有已知障碍的D*子路径合并成一个单对角路径，对D*生成的路径进行优化。然后，APF被用于未知障碍物的避障。Webots仿真器的仿真结果证明了FreeD*在最短路径下避开未知障碍物的有效性。
Abstract: Path planning is extensively used in different fields not only in robotics but also in games, manufacturing, automotive applications, and so on. Robot path planning is one of the major research issues in the area of autonomous mobile robot. The critical step in path planning problem is to find the shortest path from the start position to a defined goal position through a known, unknown, or partially known environment. Hazardous events that may devastate some parts of the intended area convert those areas to untraversable areas. These events introduce topological constraints for the robot motion because of information discrepancy about the environment before and after the damage. In this study, the authors propose a novel method, FreeD*, to find the shortest path by exploiting the benefits of D*, Dijkstra, and artificial potential field (APF) algorithms. The generated path using D* is optimised using Dijkstra by combining D* sub-paths into a single diagonal path if there is no known obstacle between them. Then, APF is used in unknown obstacle avoidance. The simulation results using Webots simulator demonstrate the effectiveness of FreeD* in avoiding unknown obstacles with shortest path.
收稿日期: 2019-01-24 出版日期: 2020-01-13
通讯作者: Uthman Baroudi     E-mail: ubaroudi@kfupm.edu.sa
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引用本文:

Mohammed Al-darwbi, Uthman Baroudi. FreeD*: a mechanism for finding a short and collision free path. IET Cyber-Systems and Robotics, 2019, 1(2): 55-62.

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http://www.zjujournals.com/iet-csr/CN/    或    http://www.zjujournals.com/iet-csr/CN/Y2019/V1/I2/55

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