Abstract
One of the most important tasks for a mobile robot is to navigate in an environment. The path planning is required to design the trajectory that generates useful motions from the original to the desired position. There are several methodologies to perform the path planning. In this paper, a new method of approximate cells decomposition, called K-Framed Quadtrees is present, to which the algorithm A\(\star \) is applied to determine trajectories between two points. To validate the new approach, we made a comparative analysis between the present method, the grid decomposition, quadtree decomposition and framed quadtree decomposition. Results and implementation specifications of the four methods are presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Siegwart, R., Nourbakhsh, I.R.: Introduction to Autonomous Mobile Robots. Bradford Company, Scituate (2004)
Choset, H., Lynch, K.M., Hutchinson, S., Kentor, G., Burgard, W., Kavraki, L.E., Thrun, S.: Principles of Robot Motion Theory, Algorithms, and Implementations. Bradford Company, Scituate (2005)
Zhang, Y., Fattahi, N., Li, W.: Probabilistic roadmap with self-learning for path planning of a mobile robot in a dynamic and unstructured environment. IN.: 2013 IEEE International Conference on Mechatronics and Automation (ICMA), pp. 1074–1079 (2013)
Mınguez, J., Antich, J., Ortiz, A.: A bug-inspired algorithm for efficient anytime path planning (2008)
Yahja, A., Stentz, A., Singh, S., Brumitt, B.L.: Framed-quadtree path planning for mobile robots operating in sparse environments. In: Proceedings of the IEEE International Conference on Robotics and Automation (1998)
Huang, H.-P., Chung, S.-Y.: Dynamic visibility graph for path planning. In: Proceedings of 2004 IEEE lRSl International Conference on Intelligent Robots and Systems (2004)
Gómez, E.J., Santa, F.M., Sarmiento, F.H.M.: A comparative study of geometric path planning methods for a mobile robot: Potential field and Voronoi diagrams. In: 2013 II International Congress of Engineering Mechatronics and Automation (CIIMA) (2013)
Feder, H.J.S., Slotine, J.J.E.: Real-time path planning using harmonic potentials in dynamic environments. In: Proceedings of International Conference on Robotics and Automation, pp. 874–881, vol. 1, April 1997
Acknowledgment
Project “TEC4Growth - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020” is financed by the North Portugal Regional Operational. Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF).
This work is also financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundaçao para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Rodrigues, A., Costa, P., Lima, J. (2018). The K-Framed Quadtrees Approach for Path Planning Through a Known Environment. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-70833-1_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-70832-4
Online ISBN: 978-3-319-70833-1
eBook Packages: EngineeringEngineering (R0)