Online Navigation Method for Mobile Robot Based on Thermal Compliance
The online navigation in unknown and dynamic environments is a crucial challenge for mobile robots. In this article, a novel online navigation method based on thermal compliance is proposed. The fundamental concept is that the optimal navigation path corresponds to the path with minimum thermal resi...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2024-10, Vol.71 (10), p.12674-12684 |
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| container_title | IEEE transactions on industrial electronics (1982) |
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| creator | Wan, Shaoke Wang, Yunlong Qi, Pengyuan Fang, Yuanyang Li, Xiaohu |
| description | The online navigation in unknown and dynamic environments is a crucial challenge for mobile robots. In this article, a novel online navigation method based on thermal compliance is proposed. The fundamental concept is that the optimal navigation path corresponds to the path with minimum thermal resistance during steady-state heat conduction. This objective can be achieved by continuously adding high thermal conductivity materials from the heat source to the heat sink. To determine the optimal laying direction of high thermal conductivity material, which also represents the optimal motion direction of mobile robot, dichotomy is employed. In order to generate feasible trajectories in real-time, the state space of mobile robot is discretized, and a set of motion primitives are generated by solving two-point boundary value optimal control problems. Simulations and experiments demonstrate that this proposed method exhibits robustness in terms of finding paths within unknown and dynamic environments without being trapped in local minima. |
| doi_str_mv | 10.1109/TIE.2024.3360608 |
| format | Article |
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In this article, a novel online navigation method based on thermal compliance is proposed. The fundamental concept is that the optimal navigation path corresponds to the path with minimum thermal resistance during steady-state heat conduction. This objective can be achieved by continuously adding high thermal conductivity materials from the heat source to the heat sink. To determine the optimal laying direction of high thermal conductivity material, which also represents the optimal motion direction of mobile robot, dichotomy is employed. In order to generate feasible trajectories in real-time, the state space of mobile robot is discretized, and a set of motion primitives are generated by solving two-point boundary value optimal control problems. 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Simulations and experiments demonstrate that this proposed method exhibits robustness in terms of finding paths within unknown and dynamic environments without being trapped in local minima.</description><subject>Boundary value problems</subject><subject>Conduction heating</subject><subject>Conductive heat transfer</subject><subject>Conductivity</subject><subject>Heat conduction</subject><subject>Heat conductivity</subject><subject>Heat sinks</subject><subject>Heating systems</subject><subject>Mobile robots</subject><subject>Navigation</subject><subject>online navigation</subject><subject>Optimal control</subject><subject>optimal path</subject><subject>Path planning</subject><subject>Real time</subject><subject>Robot control</subject><subject>Robot dynamics</subject><subject>Robots</subject><subject>Robust control</subject><subject>Thermal analysis</subject><subject>thermal compliance</subject><subject>Thermal conductivity</subject><subject>Thermal resistance</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkE1LAzEURYMoWKt7Fy4Crqe-fE2SpZaqhdaC1HXITDI2ZTqpyVTw3zvSLoQHd3PufXAQuiUwIQT0w3o-m1CgfMJYCSWoMzQiQshCa67O0QioVAUALy_RVc5bAMIFESM0W3Vt6Dx-s9_h0_Yhdnjp-010uIkJL2MVWo_fYxV7_GSzd3gA1hufdrbF07jbt8F2tb9GF41ts7855Rh9PM_W09disXqZTx8XRU256ItSOAcVdVJTwhmpBHgNGhquZAPS1o7SUmkqKADUhDaOVZxR4omlyjEQbIzuj7v7FL8OPvdmGw-pG14aBlINJ6QeKDhSdYo5J9-YfQo7m34MAfMnywyyzJ8sc5I1VO6OleC9_4dzpiho9gv5w2L3</recordid><startdate>202410</startdate><enddate>202410</enddate><creator>Wan, Shaoke</creator><creator>Wang, Yunlong</creator><creator>Qi, Pengyuan</creator><creator>Fang, Yuanyang</creator><creator>Li, Xiaohu</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| ispartof | IEEE transactions on industrial electronics (1982), 2024-10, Vol.71 (10), p.12674-12684 |
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| subjects | Boundary value problems Conduction heating Conductive heat transfer Conductivity Heat conduction Heat conductivity Heat sinks Heating systems Mobile robots Navigation online navigation Optimal control optimal path Path planning Real time Robot control Robot dynamics Robots Robust control Thermal analysis thermal compliance Thermal conductivity Thermal resistance |
| title | Online Navigation Method for Mobile Robot Based on Thermal Compliance |
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