A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots
The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/23/6919 |
| _version_ | 1797545828207820800 |
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| author | Tao Song Xiang Huo Xinkai Wu |
| author_facet | Tao Song Xiang Huo Xinkai Wu |
| author_sort | Tao Song |
| collection | DOAJ |
| description | The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To tackle this issue, we propose a two-stage optimization model to efficiently obtain an approximate optimal solution. In this model, we first develop a method to determine the key locations for visual complete coverage of a two-dimensional grid map, which is constructed by drawing lessons from the method of corner detection in the image processing. Then, we design a planning problem for searching the shortest path that passes all key locations considering the frequency of target occurrence. The testing results show that the proposed algorithm can achieve the significantly shorter search path length and the shorter target search time than the current Rule-based Algorithm and Genetic Algorithm (GA) in various simulation cases. Furthermore, the results show that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time. We also set up a test in a real environment to verify the feasibility of our algorithm. |
| first_indexed | 2024-03-10T14:21:32Z |
| format | Article |
| id | doaj.art-963625d3daf94f83a05aa212ff0c7c2f |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T14:21:32Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-963625d3daf94f83a05aa212ff0c7c2f2023-11-20T23:22:48ZengMDPI AGSensors1424-82202020-12-012023691910.3390/s20236919A Two-Stage Method for Target Searching in the Path Planning for Mobile RobotsTao Song0Xiang Huo1Xinkai Wu2School of Transportation Science and Engineering, Beihang University, Beijing 100193, ChinaSchool of Transportation Science and Engineering, Beihang University, Beijing 100193, ChinaSchool of Transportation Science and Engineering, Beihang University, Beijing 100193, ChinaThe path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To tackle this issue, we propose a two-stage optimization model to efficiently obtain an approximate optimal solution. In this model, we first develop a method to determine the key locations for visual complete coverage of a two-dimensional grid map, which is constructed by drawing lessons from the method of corner detection in the image processing. Then, we design a planning problem for searching the shortest path that passes all key locations considering the frequency of target occurrence. The testing results show that the proposed algorithm can achieve the significantly shorter search path length and the shorter target search time than the current Rule-based Algorithm and Genetic Algorithm (GA) in various simulation cases. Furthermore, the results show that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time. We also set up a test in a real environment to verify the feasibility of our algorithm.https://www.mdpi.com/1424-8220/20/23/6919targets searchmobile robotpath planningvisual complete coveragetwo-stage |
| spellingShingle | Tao Song Xiang Huo Xinkai Wu A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots Sensors targets search mobile robot path planning visual complete coverage two-stage |
| title | A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots |
| title_full | A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots |
| title_fullStr | A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots |
| title_full_unstemmed | A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots |
| title_short | A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots |
| title_sort | two stage method for target searching in the path planning for mobile robots |
| topic | targets search mobile robot path planning visual complete coverage two-stage |
| url | https://www.mdpi.com/1424-8220/20/23/6919 |
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