Robot Path Planning Method Based on Indoor Spacetime Grid Model
In the context of digital twins, smart city construction and artificial intelligence technology are developing rapidly, and more and more mobile robots are performing tasks in complex and time-varying indoor environments, making, at present, the unification of modeling, dynamic expression, visualiza...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-05-01
|
| Series: | Remote Sensing |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-4292/14/10/2357 |
| _version_ | 1797495938697134080 |
|---|---|
| author | Huangchuang Zhang Qingjun Zhuang Ge Li |
| author_facet | Huangchuang Zhang Qingjun Zhuang Ge Li |
| author_sort | Huangchuang Zhang |
| collection | DOAJ |
| description | In the context of digital twins, smart city construction and artificial intelligence technology are developing rapidly, and more and more mobile robots are performing tasks in complex and time-varying indoor environments, making, at present, the unification of modeling, dynamic expression, visualization of operation, and wide application between robots and indoor environments a pressing problem to be solved. This paper presents an in-depth study on this issue and summarizes three major types of methods: geometric modeling, topological modeling, and raster modeling, and points out the advantages and disadvantages of these three types of methods. Therefore, in view of the current pain points of robots and complex time-varying indoor environments, this paper proposes an indoor spacetime grid model based on the three-dimensional division framework of the Earth space and innovatively integrates time division on the basis of space division. On the basis of the model, a dynamic path planning algorithm for the robot in the complex time-varying indoor environment is designed, that is, the Spacetime-A* algorithm (STA* for short). Finally, the indoor spacetime grid modeling experiment is carried out with real data, which verifies the feasibility and correctness of the spacetime relationship calculation algorithm encoded by the indoor spacetime grid model. Then, experiments are carried out on the multi-group path planning algorithms of the robot under the spacetime grid, and the feasibility of the STA* algorithm under the indoor spacetime grid and the superiority of the spacetime grid are verified. |
| first_indexed | 2024-03-10T01:56:39Z |
| format | Article |
| id | doaj.art-317e686cd901408288be33e55bfd9f9c |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-03-10T01:56:39Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-317e686cd901408288be33e55bfd9f9c2023-11-23T12:54:54ZengMDPI AGRemote Sensing2072-42922022-05-011410235710.3390/rs14102357Robot Path Planning Method Based on Indoor Spacetime Grid ModelHuangchuang Zhang0Qingjun Zhuang1Ge Li2School of Electronic and Computer Engineering, Peking University, Shenzhen 518055, ChinaAcademy for Advanced Interdisciplinary Studies, Peking University, Beijing 100871, ChinaSchool of Electronic and Computer Engineering, Peking University, Shenzhen 518055, ChinaIn the context of digital twins, smart city construction and artificial intelligence technology are developing rapidly, and more and more mobile robots are performing tasks in complex and time-varying indoor environments, making, at present, the unification of modeling, dynamic expression, visualization of operation, and wide application between robots and indoor environments a pressing problem to be solved. This paper presents an in-depth study on this issue and summarizes three major types of methods: geometric modeling, topological modeling, and raster modeling, and points out the advantages and disadvantages of these three types of methods. Therefore, in view of the current pain points of robots and complex time-varying indoor environments, this paper proposes an indoor spacetime grid model based on the three-dimensional division framework of the Earth space and innovatively integrates time division on the basis of space division. On the basis of the model, a dynamic path planning algorithm for the robot in the complex time-varying indoor environment is designed, that is, the Spacetime-A* algorithm (STA* for short). Finally, the indoor spacetime grid modeling experiment is carried out with real data, which verifies the feasibility and correctness of the spacetime relationship calculation algorithm encoded by the indoor spacetime grid model. Then, experiments are carried out on the multi-group path planning algorithms of the robot under the spacetime grid, and the feasibility of the STA* algorithm under the indoor spacetime grid and the superiority of the spacetime grid are verified.https://www.mdpi.com/2072-4292/14/10/2357spacetime gridindoor complex environmentgrid modelmobile robotpath planning |
| spellingShingle | Huangchuang Zhang Qingjun Zhuang Ge Li Robot Path Planning Method Based on Indoor Spacetime Grid Model Remote Sensing spacetime grid indoor complex environment grid model mobile robot path planning |
| title | Robot Path Planning Method Based on Indoor Spacetime Grid Model |
| title_full | Robot Path Planning Method Based on Indoor Spacetime Grid Model |
| title_fullStr | Robot Path Planning Method Based on Indoor Spacetime Grid Model |
| title_full_unstemmed | Robot Path Planning Method Based on Indoor Spacetime Grid Model |
| title_short | Robot Path Planning Method Based on Indoor Spacetime Grid Model |
| title_sort | robot path planning method based on indoor spacetime grid model |
| topic | spacetime grid indoor complex environment grid model mobile robot path planning |
| url | https://www.mdpi.com/2072-4292/14/10/2357 |
| work_keys_str_mv | AT huangchuangzhang robotpathplanningmethodbasedonindoorspacetimegridmodel AT qingjunzhuang robotpathplanningmethodbasedonindoorspacetimegridmodel AT geli robotpathplanningmethodbasedonindoorspacetimegridmodel |