Path Planning with Modified a Star Algorithm for a Mobile Robot

UAV assistance paradigm: State-of-the-art in applications and challenges

Autonomous mobile robots are becoming more prominent in recent time because of their relevance and applications to the world today. Their ability to navigate in an environment without a need for physical or electro-mechanical guidance devices has made it more promising and useful. The use of autonomous mobile robots is emerging in different sectors such as companies, industries, hospital, institutions, agriculture and homes to improve services and daily activities. Due to technology advancement, the demand for mobile robot has increased due to the task they perform and services they render such as carrying heavy objects, monitoring, search and rescue missions, etc. Various studies have been carried out by researchers on the importance of mobile robot, its applications and challenges. This survey paper unravels the current literatures, the challenges mobile robot is being faced with. A comprehensive study on devices/sensors and prevalent sensor fusion techniques developed for tackling issues like localization, estimation and navigation in mobile robot are presented as well in which they are organised according to relevance, strengths and weaknesses. The study therefore gives good direction for further investigation on developing methods to deal with the discrepancies faced with autonomous mobile robot.

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A Review on Challenges of Autonomous Mobile Robot and Sensor Fusion Methods

Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.

https://www.mdpi.com/1424-8220/18/9/3170/pdf

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

This article deals with path planning of a mobile robot based on a grid map. Essential assumption for path planning is a mobile robot with functional and reliable reactive navigation and SLAM. Therefore, such issues are not addressed in this article. The main body of the article introduces several modifications (Basic Theta*, Phi*) and improvements (RSR, JPS) of A star algorithm. These modifications are focused primarily on computational time and the path optimality. Individual modifications were evaluated in several scenarios, which varied in the complexity of environment. On the basis of these evaluations, it is possible to choose path planning method suitable for individual scenario. © 2014 The Authors. Published by Elsevier Ltd. Peer-review under responsibility of organizing committee of the Modelling of Mechanical and Mechatronic Systems MMaMS 2014. Keywords: path planning, A* algorithm, Basic Theta*, Phi*, Jump Point Search Nomenclature SLAM Simultaneous Localization and Mapping A* A star RSR Rectangular Symmetry Reduction JPS Jump Point Search

Modelling of Mechanical and Mechatronic Systems MMaMS 2014 Path planning with modified A star algorithm for a mobile robot

Visual Localization of Mobile Robot Using Artificial Markers

The paper presents localization method for mobile robots with use of artificial markers deployed to an environment. A specialty of the markers is that the position and rotation of the camera relative to the marker can be determined from only one marker. Fur ther in the paper, some experiments are described. The results prove that this system can be reliably employed in visual localization of mobile robots. © 2014 The Authors. Published by Elsevier Ltd. P eer-review under responsibility of organizing committee of the Modelling of Mechanical and Mechatronic Systems MMaMS 2014.

Modelling of Mechanical and Mechatronic Systems MMaMS 2014 Visual localization of mobile robot using artificial markers

https://cyberleninka.org/article/n/177070.pdf

Andrej Babinec

Papers

Path Planning with Modified a Star Algorithm for a Mobile Robot

Modelling of Mechanical and Mechatronic Systems MMaMS 2014 Path planning with modified A star algorithm for a mobile robot

Visual Localization of Mobile Robot Using Artificial Markers

Modelling of Mechanical and Mechatronic Systems MMaMS 2014 Visual localization of mobile robot using artificial markers

Intelligent Vehicles as the Robotic Applications