1. Exploiting Fluid Dynamics Concepts to Solve Local Minima Problems in Robotic Path Planning.
- Author
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Baziyad, Mohammed, Rabie, Tamer, Fareh, Raouf, Kamel, Ibrahim, and Bettayeb, Maamar
- Subjects
ROBOTIC path planning ,FLUID dynamics ,PLANNING techniques ,PROBLEM solving ,MATHEMATICAL optimization - Abstract
Artificial Potential Field techniques (APF) have become a popular path planning technique due to their simplicity and fast-execution nature. APF techniques have been widely known for their outstanding performance against the path quality and computational time trade-of problem for path planning techniques. However, Since APF techniques are optimization problems, they suffer from well-known problems such as the minima trap problem and the narrow passage problem. The APF planner can fail to find an obstacle-firee path to the final goal point and simply be trapped in a local minima for some map configurations. This paper proposes a new path planning technique that aims to take the advantage of the APF technique as well as solving the APF problems of local trap and narrow passage problems. The proposed technique is inspired by the fluid dynamic concepts and adopts an artificial "flushing" operation. The robot and the obstacles will be placed in an artificial pool. The robot will have negligible weight while the obstacles will be fixed in the pool. Once the "flushing" operation starts, the robot will be automatically pulled by the water to the flushing point which is the goal point. It is guaranteed that the water in the whole map will be absorbed into the flushing point and no particles will be trapped in any region. The simulation results have proven the effectiveness of the proposed technique and demonstrated its ability to overcome the challenge of local minima traps in potential field path planning. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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