Path planning with obstacle avoidance based on visibility binary tree algorithm

In this paper, a novel method for robot navigation in dynamic environments, referred to as visibility binary tree algorithm, is introduced. To plan the path of the robot, the algorithm relies on the construction of the set of all complete paths between robot and target taking into account inner and...

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Veröffentlicht in:Robotics and autonomous systems 2013-12, Vol.61 (12), p.1440-1449
Hauptverfasser: Rashid, Abdulmuttalib Turky, Ali, Abduladhem Abdulkareem, Frasca, Mattia, Fortuna, Luigi
Format: Artikel
Sprache:eng
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Zusammenfassung:In this paper, a novel method for robot navigation in dynamic environments, referred to as visibility binary tree algorithm, is introduced. To plan the path of the robot, the algorithm relies on the construction of the set of all complete paths between robot and target taking into account inner and outer visible tangents between robot and circular obstacles. The paths are then used to create a visibility binary tree on top of which an algorithm for shortest path is run. The proposed algorithm is implemented on two simulation scenarios, one of them involving global knowledge of the environment, and the other based on local knowledge of the environment. The performance are compared with three different algorithms for path planning. •A new algorithm for robot navigation, referred to as visibility binary tree algorithm is introduced.•The construction of this algorithm is based on the visible tangents between robot and obstacles.•The shortest path is run on top of the visibility binary tree.•The performance is compared with three different algorithms for path planning.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2013.07.010