Path planning based on inflated medial axis and probabilistic roadmap for duct environment
This paper proposes an inflated medial axis based probabilistic roadmap (PRM) for the duct environment. The study intends to explore a sampling strategy for PRM toward clearance-driven path planning. Sampled nodes are constrained only inside the inflated medial axis area. The medial axis is generate...
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| Format: | Book Section |
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Springer Science and Business Media Deutschland GmbH
2022
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| _version_ | 1796866926782185472 |
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| author | Mohd. Kamil, Ahmad Ridhwan Shithil, Shaekh Mohammad Ismail, Zool Hilmi Mahmud, Mohd. Saiful Azimi Mohd. Faudzi, Ahmad Athif |
| author_facet | Mohd. Kamil, Ahmad Ridhwan Shithil, Shaekh Mohammad Ismail, Zool Hilmi Mahmud, Mohd. Saiful Azimi Mohd. Faudzi, Ahmad Athif |
| author_sort | Mohd. Kamil, Ahmad Ridhwan |
| collection | ePrints |
| description | This paper proposes an inflated medial axis based probabilistic roadmap (PRM) for the duct environment. The study intends to explore a sampling strategy for PRM toward clearance-driven path planning. Sampled nodes are constrained only inside the inflated medial axis area. The medial axis is generated from skeletonizing the map and inflate the skeletal diagram. To evaluate effectiveness of the proposed method, experiments were carried out on a reference map generated by simultaneous localization and mapping (SLAM) from an actual mockup duct environment. Experiments conducted showed the proposed method able to produce a path trajectory with clearance-driven behavior. The method is very useful in narrow spaces such as ducting, which required a safe distance when navigating autonomously in the environment. |
| first_indexed | 2024-03-05T21:19:30Z |
| format | Book Section |
| id | utm.eprints-100674 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T21:19:30Z |
| publishDate | 2022 |
| publisher | Springer Science and Business Media Deutschland GmbH |
| record_format | dspace |
| spelling | utm.eprints-1006742023-04-30T08:33:04Z http://eprints.utm.my/100674/ Path planning based on inflated medial axis and probabilistic roadmap for duct environment Mohd. Kamil, Ahmad Ridhwan Shithil, Shaekh Mohammad Ismail, Zool Hilmi Mahmud, Mohd. Saiful Azimi Mohd. Faudzi, Ahmad Athif TK Electrical engineering. Electronics Nuclear engineering This paper proposes an inflated medial axis based probabilistic roadmap (PRM) for the duct environment. The study intends to explore a sampling strategy for PRM toward clearance-driven path planning. Sampled nodes are constrained only inside the inflated medial axis area. The medial axis is generated from skeletonizing the map and inflate the skeletal diagram. To evaluate effectiveness of the proposed method, experiments were carried out on a reference map generated by simultaneous localization and mapping (SLAM) from an actual mockup duct environment. Experiments conducted showed the proposed method able to produce a path trajectory with clearance-driven behavior. The method is very useful in narrow spaces such as ducting, which required a safe distance when navigating autonomously in the environment. Springer Science and Business Media Deutschland GmbH 2022 Book Section PeerReviewed Mohd. Kamil, Ahmad Ridhwan and Shithil, Shaekh Mohammad and Ismail, Zool Hilmi and Mahmud, Mohd. Saiful Azimi and Mohd. Faudzi, Ahmad Athif (2022) Path planning based on inflated medial axis and probabilistic roadmap for duct environment. In: Computational Intelligence in Machine Learning Select Proceedings of ICCIML 2021. Lecture Notes in Electrical Engineering, 834 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, pp. 441-449. ISBN 978-981168483-8 http://dx.doi.org/10.1007/978-981-16-8484-5_42 DOI:10.1007/978-981-16-8484-5_42 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd. Kamil, Ahmad Ridhwan Shithil, Shaekh Mohammad Ismail, Zool Hilmi Mahmud, Mohd. Saiful Azimi Mohd. Faudzi, Ahmad Athif Path planning based on inflated medial axis and probabilistic roadmap for duct environment |
| title | Path planning based on inflated medial axis and probabilistic roadmap for duct environment |
| title_full | Path planning based on inflated medial axis and probabilistic roadmap for duct environment |
| title_fullStr | Path planning based on inflated medial axis and probabilistic roadmap for duct environment |
| title_full_unstemmed | Path planning based on inflated medial axis and probabilistic roadmap for duct environment |
| title_short | Path planning based on inflated medial axis and probabilistic roadmap for duct environment |
| title_sort | path planning based on inflated medial axis and probabilistic roadmap for duct environment |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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