A Dynamic Path Planning Method for Social Robots in the Home Environment
The home environment is a typical dynamic environment with moveable obstacles. The social robots working in home need to search for feasible paths in this complex dynamic environment. In this work, we propose an improved RRT algorithm to plan feasible path in home environment. The algorithm pre-buil...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-07-01
|
| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/9/7/1173 |
| _version_ | 1797562030987673600 |
|---|---|
| author | Chen Zhang Lelai Zhou Yibin Li Yong Fan |
| author_facet | Chen Zhang Lelai Zhou Yibin Li Yong Fan |
| author_sort | Chen Zhang |
| collection | DOAJ |
| description | The home environment is a typical dynamic environment with moveable obstacles. The social robots working in home need to search for feasible paths in this complex dynamic environment. In this work, we propose an improved RRT algorithm to plan feasible path in home environment. The algorithm pre-builds a tree that covers the whole map and maintains the effectiveness of all nodes with branch pruning, reconnection, and regrowth process. The method forms a path by searching the nearest node in the tree and then quickly accessing the nodes near the destination. Due to the effectiveness-maintaining process, the proposed method can effectively deal with the complex dynamic environment where the destination and multiple moving obstacles change simultaneously. In addition, our method can be extended to the path-planning problem in 3D space. The simulation experiments verify the effectiveness of the algorithm. |
| first_indexed | 2024-03-10T18:22:53Z |
| format | Article |
| id | doaj.art-8f3d00a18128440da10eecfc0c1fa127 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T18:22:53Z |
| publishDate | 2020-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-8f3d00a18128440da10eecfc0c1fa1272023-11-20T07:14:37ZengMDPI AGElectronics2079-92922020-07-0197117310.3390/electronics9071173A Dynamic Path Planning Method for Social Robots in the Home EnvironmentChen Zhang0Lelai Zhou1Yibin Li2Yong Fan3School of Control Science and Engineering, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, ChinaSchool of Rail Transportation, Shandong Jiaotong University, Jinan 250357, ChinaThe home environment is a typical dynamic environment with moveable obstacles. The social robots working in home need to search for feasible paths in this complex dynamic environment. In this work, we propose an improved RRT algorithm to plan feasible path in home environment. The algorithm pre-builds a tree that covers the whole map and maintains the effectiveness of all nodes with branch pruning, reconnection, and regrowth process. The method forms a path by searching the nearest node in the tree and then quickly accessing the nodes near the destination. Due to the effectiveness-maintaining process, the proposed method can effectively deal with the complex dynamic environment where the destination and multiple moving obstacles change simultaneously. In addition, our method can be extended to the path-planning problem in 3D space. The simulation experiments verify the effectiveness of the algorithm.https://www.mdpi.com/2079-9292/9/7/1173social robothome environmentrapidly-exploring random treepath planning |
| spellingShingle | Chen Zhang Lelai Zhou Yibin Li Yong Fan A Dynamic Path Planning Method for Social Robots in the Home Environment Electronics social robot home environment rapidly-exploring random tree path planning |
| title | A Dynamic Path Planning Method for Social Robots in the Home Environment |
| title_full | A Dynamic Path Planning Method for Social Robots in the Home Environment |
| title_fullStr | A Dynamic Path Planning Method for Social Robots in the Home Environment |
| title_full_unstemmed | A Dynamic Path Planning Method for Social Robots in the Home Environment |
| title_short | A Dynamic Path Planning Method for Social Robots in the Home Environment |
| title_sort | dynamic path planning method for social robots in the home environment |
| topic | social robot home environment rapidly-exploring random tree path planning |
| url | https://www.mdpi.com/2079-9292/9/7/1173 |
| work_keys_str_mv | AT chenzhang adynamicpathplanningmethodforsocialrobotsinthehomeenvironment AT lelaizhou adynamicpathplanningmethodforsocialrobotsinthehomeenvironment AT yibinli adynamicpathplanningmethodforsocialrobotsinthehomeenvironment AT yongfan adynamicpathplanningmethodforsocialrobotsinthehomeenvironment AT chenzhang dynamicpathplanningmethodforsocialrobotsinthehomeenvironment AT lelaizhou dynamicpathplanningmethodforsocialrobotsinthehomeenvironment AT yibinli dynamicpathplanningmethodforsocialrobotsinthehomeenvironment AT yongfan dynamicpathplanningmethodforsocialrobotsinthehomeenvironment |