Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots
This article is focused on the problematics of path planning, which means finding the optimal path between two points in a known environment with obstacles. The proposed path-planning method uses the wavefront algorithm, and two modifications are implemented and verified. The first modification is t...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/1/25 |
| _version_ | 1797618359873830912 |
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| author | Martin Psotka František Duchoň Mykhailyshyn Roman Tölgyessy Michal Dobiš Michal |
| author_facet | Martin Psotka František Duchoň Mykhailyshyn Roman Tölgyessy Michal Dobiš Michal |
| author_sort | Martin Psotka |
| collection | DOAJ |
| description | This article is focused on the problematics of path planning, which means finding the optimal path between two points in a known environment with obstacles. The proposed path-planning method uses the wavefront algorithm, and two modifications are implemented and verified. The first modification is the removal of redundant waypoints. The first modification is applied because the wavefront algorithm generates redundant waypoints. These waypoints cause unnecessary changes in the direction of movement. The second one is smoothing the generated trajectory using B-spline curves. The reason for applying the second modification is that trajectory generated by the wavefront algorithm is in the form of the polyline, which is inadequate in terms of the smoothness of the robot’s motion. The verification of the proposed method is performed in environments with different densities of obstacles compared with standard Dijkstra’s and A* algorithms. |
| first_indexed | 2024-03-11T08:11:53Z |
| format | Article |
| id | doaj.art-7abc1c178fee48b782aee8a32cd8105e |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T08:11:53Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-7abc1c178fee48b782aee8a32cd8105e2023-11-16T23:05:30ZengMDPI AGRobotics2218-65812023-02-011212510.3390/robotics12010025Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile RobotsMartin Psotka0František Duchoň1Mykhailyshyn Roman2Tölgyessy Michal3Dobiš Michal4Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, SlovakiaInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, SlovakiaTexas Robotics, College of Natural Sciences and the Cockrell School of Engineering, The University of Texas at Austin, Austin, TX 78712, USAInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, SlovakiaInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology, 811 07 Bratislava, SlovakiaThis article is focused on the problematics of path planning, which means finding the optimal path between two points in a known environment with obstacles. The proposed path-planning method uses the wavefront algorithm, and two modifications are implemented and verified. The first modification is the removal of redundant waypoints. The first modification is applied because the wavefront algorithm generates redundant waypoints. These waypoints cause unnecessary changes in the direction of movement. The second one is smoothing the generated trajectory using B-spline curves. The reason for applying the second modification is that trajectory generated by the wavefront algorithm is in the form of the polyline, which is inadequate in terms of the smoothness of the robot’s motion. The verification of the proposed method is performed in environments with different densities of obstacles compared with standard Dijkstra’s and A* algorithms.https://www.mdpi.com/2218-6581/12/1/25global path planningwavefront algorithmB-spline curvesROSground mobile robot |
| spellingShingle | Martin Psotka František Duchoň Mykhailyshyn Roman Tölgyessy Michal Dobiš Michal Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots Robotics global path planning wavefront algorithm B-spline curves ROS ground mobile robot |
| title | Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots |
| title_full | Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots |
| title_fullStr | Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots |
| title_full_unstemmed | Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots |
| title_short | Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots |
| title_sort | global path planning method based on a modification of the wavefront algorithm for ground mobile robots |
| topic | global path planning wavefront algorithm B-spline curves ROS ground mobile robot |
| url | https://www.mdpi.com/2218-6581/12/1/25 |
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