MULTI FUSION PATH PLANNING ALGORITHM FOR UGV

  • Sharana Basava S Madari
  • Adlinge S D
  • A. Thirija Sharmila

Abstract

This research paper presents the work on the multi
fusion path planning algorithm for Unmanned Ground Vehicle
(UGV), which includes, tasks such as studying various existing
algorithms, combing algorithms for better results,
implementing multi fusion path planning algorithm to produce
an optimal path for UGV in a simulated environment. To
determine collision free path for a robot from start to goal
position in a workspace comprising of obstacles, is the main
challenge in the design of an autonomous UGV. The Multi
fusion Path planning algorithm subsequently attempts to
create free paths for the UGV to travel in the workspace
without colliding with obstacles. Probabilistic roadmap (PRM)
algorithm along with Dijkstra algorithm is used for the UGV
navigation in an environment. Python is used for simulation of
the results.

Keywords: Path planning; Probabilistic Roadmap (PRM); Dijkstra algorithm; KNN (K-nearest neighbor); Unmanned Ground Vehicle (UGV).

References

[1] N. K. Yilmaz, C. Evangelinos, P. F. J. Lermusiaux, and N. M.
Patrikalakis, “Path planning of autonomous underwater vehicles for
adaptive sampling using mixed integer linear programming,”IEEE
Journal of Oceanic Engineering,vol.33,no. 4,pp.522–537,2008.
[2] M. P. Aghababa, “3D path planning for underwater vehicles using
five evolutionary optimization algorithms avoiding static and
energetic obstacles,” Applied Ocean Research, vol. 38, pp. 48–
62,2012.
[3] R.Yue, J.Xiao, S.L.Joseph, and S.Wang, “Modeling and path planning
of the city-climber robot part II: 3D path planning using mixed
integer linear programming,” in Proceedings of the IEEE
International Conference on Robotics and Biomimetics (ROBIO ’09),
vol. 6, pp. 2391–2396, Guilin, China, December 2009.
[4] F.Yan,Y.-S.Liu,andJ.-.Xiao,“Pathplanningincomplex3D environments
using a probabilistic roadmap method,” International Journal of
Automation and Computing,vol.10,no.6,pp. 525–533,2013.
[5] H. Duan, Y. Yu, X. Zhang, and S. Shao, “Three-dimension path
planning for UCAV using hybrid meta-heuristic ACO-DE algorithm,”
Simulation Modelling Practice and Theory, vol. 18, no.8, pp.1104–
1115,2010.
[6] F. Schler, 3d path planning for autonomous aerial vehicles in
constrained spaces [Ph.D. thesis], Department of Electronic Systems,
Faculty of Engineering and Science, Aalborg University, Aalborg,
Denmark,2012.
[7] ” Survey of Robot 3D Path Planning Algorithms”
LiangYang, JuntongQi, DaleiSong, JizhongXiao, JiandaHan and
YongXia
Statistics
0 Views | 0 Downloads
How to Cite
Madari, S. B. S., S D, A., & Sharmila, A. T. (2019). MULTI FUSION PATH PLANNING ALGORITHM FOR UGV. Asian Journal For Convergence In Technology (AJCT). Retrieved from http://www.asianssr.org/index.php/ajct/article/view/780
Section
Article