A Tabu Search-based Approach for Online Motion Planning
In this paper an online motion planner is developed to govern the movements of mobile robots during their explorations. By using the Tabu search meta-heuristic method, a set of tabu (i.e., forbidden) moves are defined in each iteration of the search to confine the robot's navigable locations, a...
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| creator | Masehian, E. Amin-Naseri, M.R. |
| description | In this paper an online motion planner is developed to govern the movements of mobile robots during their explorations. By using the Tabu search meta-heuristic method, a set of tabu (i.e., forbidden) moves are defined in each iteration of the search to confine the robot's navigable locations, and guide it toward the goal. Based on range-sensor readings and the cost function value defined for each ray, the robot is attracted to certain obstacle vertices, and moves along a path consisted of lines connecting the vertices of different obstacles. Hence, the resulting trajectory has a local shortest path quality similar to the visibility graph roadmap. The planner also takes advantage of random moves when trapped in dead-ends. Different experiments have shown the efficiency of this approach. |
| doi_str_mv | 10.1109/ICIT.2006.372662 |
| format | Conference Proceeding |
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Different experiments have shown the efficiency of this approach.</description><subject>Cost function</subject><subject>Heuristic algorithms</subject><subject>Iterative algorithms</subject><subject>Joining processes</subject><subject>Mobile robots</subject><subject>Motion planning</subject><subject>Navigation</subject><subject>Optimization methods</subject><subject>Robot motion</subject><subject>Robot sensing systems</subject><isbn>1424407257</isbn><isbn>9781424407255</isbn><isbn>1424407265</isbn><isbn>9781424407262</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFjktLxDAYRSMiqDOzF9zkD7Tm_ViW4qMwMsJ0P3zJJE6kpiUdF_57CwpeDlzO5nIRuqOkppTYh67t-poRomqumVLsAt1SwYQgi8nLf5H6Gm3m-YMs4VZSym6QbnAP7gvvAxR_qhzM4YibaSoj-BOOY8G7PKQc8Ot4TmPGbwPknPL7Gl1FGOaw-esV6p8e-_al2u6eu7bZVsmScwUu0oVIubMBoreeg2Gecmm1AKek9ssRo53SzjHijopFRZg12lgqCOcrdP87m0IIh6mkTyjfB8G4tkbwH_IjRK8</recordid><startdate>200612</startdate><enddate>200612</enddate><creator>Masehian, E.</creator><creator>Amin-Naseri, M.R.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200612</creationdate><title>A Tabu Search-based Approach for Online Motion Planning</title><author>Masehian, E. ; Amin-Naseri, M.R.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-abf1bf1f13b9eafc9c3a82c135974ab657c39587b67bb20bd62f6029878914033</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Cost function</topic><topic>Heuristic algorithms</topic><topic>Iterative algorithms</topic><topic>Joining processes</topic><topic>Mobile robots</topic><topic>Motion planning</topic><topic>Navigation</topic><topic>Optimization methods</topic><topic>Robot motion</topic><topic>Robot sensing systems</topic><toplevel>online_resources</toplevel><creatorcontrib>Masehian, E.</creatorcontrib><creatorcontrib>Amin-Naseri, M.R.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Masehian, E.</au><au>Amin-Naseri, M.R.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A Tabu Search-based Approach for Online Motion Planning</atitle><btitle>2006 IEEE International Conference on Industrial Technology</btitle><stitle>ICIT</stitle><date>2006-12</date><risdate>2006</risdate><spage>2756</spage><epage>2761</epage><pages>2756-2761</pages><isbn>1424407257</isbn><isbn>9781424407255</isbn><eisbn>1424407265</eisbn><eisbn>9781424407262</eisbn><abstract>In this paper an online motion planner is developed to govern the movements of mobile robots during their explorations. By using the Tabu search meta-heuristic method, a set of tabu (i.e., forbidden) moves are defined in each iteration of the search to confine the robot's navigable locations, and guide it toward the goal. Based on range-sensor readings and the cost function value defined for each ray, the robot is attracted to certain obstacle vertices, and moves along a path consisted of lines connecting the vertices of different obstacles. Hence, the resulting trajectory has a local shortest path quality similar to the visibility graph roadmap. The planner also takes advantage of random moves when trapped in dead-ends. Different experiments have shown the efficiency of this approach.</abstract><pub>IEEE</pub><doi>10.1109/ICIT.2006.372662</doi><tpages>6</tpages></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Cost function Heuristic algorithms Iterative algorithms Joining processes Mobile robots Motion planning Navigation Optimization methods Robot motion Robot sensing systems |
| title | A Tabu Search-based Approach for Online Motion Planning |
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