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ST-FMT*: A Fast Optimal Global Motion Planning for Mobile Robot.
- Source :
-
IEEE Transactions on Industrial Electronics . Apr2022, Vol. 69 Issue 4, p3854-3864. 11p. - Publication Year :
- 2022
-
Abstract
- This article introduces a secure tunnel fast marching tree motion planning algorithm (ST-FMT*) to provide a secure and optimal path quickly for a mobile robot. The proposed ST-FMT* consists of preprocessing and exploring procedures, which are responsible for establishing a secure tunnel and optimizing the path, respectively. In the preprocessing process, the generalized Voronoi graph is adopted to build an equidistant roadmap and generates an initial collision-free solution rapidly. Then, a secure tunnel is established via the minimum distance from the obstacles to the initial solution to facilitate the concentration of sampling. In the exploration process, the FMT* with uniform sampling within the secure tunnel is utilized to find the optimal solution with high computational efficiency. The theoretical analyses of the ST-FMT* are provided. In a series of scenarios evaluation, the ST-FMT* exhibits fast convergence to the optimal solution in different environments. Besides, the effectiveness of the ST-FMT* is verified in a transportation experiment using a Turtlebot2 mobile robot. [ABSTRACT FROM AUTHOR]
- Subjects :
- *MOBILE robots
*HEURISTIC algorithms
*SPACE exploration
Subjects
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 69
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 154266097
- Full Text :
- https://doi.org/10.1109/TIE.2021.3075852