1. Safe Path Planning Algorithms for Mobile Robots Based on Probabilistic Foam
- Author
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Luís B. P. Nascimento, Dennis Barrios-Aranibar, Vitor G. Santos, Diego S. Pereira, William C. Ribeiro, and Pablo J. Alsina
- Subjects
mobile robot ,path planning ,bubbles ,probabilistic foam ,safety ,A* algorithm ,Chemical technology ,TP1-1185 - Abstract
The planning of safe paths is an important issue for autonomous robot systems. The Probabilistic Foam method (PFM) is a planner that guarantees safe paths bounded by a sequence of structures called bubbles that provides safe regions. This method performs the planning by covering the free configuration space with bubbles, an approach analogous to a breadth-first search. To improve the propagation process and keep the safety, we present three algorithms based on Probabilistic Foam: Goal-biased Probabilistic Foam (GBPF), Radius-biased Probabilistic Foam (RBPF), and Heuristic-guided Probabilistic Foam (HPF); the last two are proposed in this work. The variant GBPF is fast, HPF finds short paths, and RBPF finds high-clearance paths. Some simulations were performed using four different maps to analyze the behavior and performance of the methods. Besides, the safety was analyzed considering the new propagation strategies.
- Published
- 2021
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