Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators
For planning a robot’s path inside a large building with one or more elevators, we develop a topological map, called the building Voronoi graph. Using the building Voronoi graph, the robot finds the shortest path to the goal and follows the path. In the case where the robot detects an object with ar...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/17/9691 |
| _version_ | 1827728297426944000 |
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| author | Jonghoek Kim |
| author_facet | Jonghoek Kim |
| author_sort | Jonghoek Kim |
| collection | DOAJ |
| description | For planning a robot’s path inside a large building with one or more elevators, we develop a topological map, called the building Voronoi graph. Using the building Voronoi graph, the robot finds the shortest path to the goal and follows the path. In the case where the robot detects an object with arbitrary shapes (e.g., human) while following the path, the robot avoids the object utilizing reactive control laws. The proposed reactive collision-avoidance control is unique in considering collision avoidance with map environments as well as (moving or static) objects having arbitrary shapes. As far as we know, our paper is novel in addressing how to make the robot follow the building Voronoi graph, while avoiding collision with map environments as well as objects with arbitrary shapes. |
| first_indexed | 2024-03-10T23:27:19Z |
| format | Article |
| id | doaj.art-060ef59a0da940829986c3b8627eb63c |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T23:27:19Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-060ef59a0da940829986c3b8627eb63c2023-11-19T07:50:28ZengMDPI AGApplied Sciences2076-34172023-08-011317969110.3390/app13179691Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More ElevatorsJonghoek Kim0System Engineering Department, Sejong University, Seoul 05006, Republic of KoreaFor planning a robot’s path inside a large building with one or more elevators, we develop a topological map, called the building Voronoi graph. Using the building Voronoi graph, the robot finds the shortest path to the goal and follows the path. In the case where the robot detects an object with arbitrary shapes (e.g., human) while following the path, the robot avoids the object utilizing reactive control laws. The proposed reactive collision-avoidance control is unique in considering collision avoidance with map environments as well as (moving or static) objects having arbitrary shapes. As far as we know, our paper is novel in addressing how to make the robot follow the building Voronoi graph, while avoiding collision with map environments as well as objects with arbitrary shapes.https://www.mdpi.com/2076-3417/13/17/9691Voronoi graphbuildingpath planpath followingcollision avoidancetopological map |
| spellingShingle | Jonghoek Kim Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators Applied Sciences Voronoi graph building path plan path following collision avoidance topological map |
| title | Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators |
| title_full | Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators |
| title_fullStr | Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators |
| title_full_unstemmed | Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators |
| title_short | Path-Following and Collision-Avoidance Controls of a Robot in a Large Building with One or More Elevators |
| title_sort | path following and collision avoidance controls of a robot in a large building with one or more elevators |
| topic | Voronoi graph building path plan path following collision avoidance topological map |
| url | https://www.mdpi.com/2076-3417/13/17/9691 |
| work_keys_str_mv | AT jonghoekkim pathfollowingandcollisionavoidancecontrolsofarobotinalargebuildingwithoneormoreelevators |