NDLI: Nonholonomic path planning optimization for Dubins' vehicles

Content Provider	IEEE Xplore Digital Library
Author	Macharet, D.G. Alves Neto, A. da Camara Neto, V.F. Campos, M.F.M.
Copyright Year	2011
Description	Author affiliation: Computer Vision and Robotic Laboratory (VeRLab), Computer Science Department, Universidade Federal de Minas Gerais, Brazil (Macharet, D.G.; Alves Neto, A.; da Camara Neto, V.F.; Campos, M.F.M.)
Abstract	In this paper we deal with the problem of path length optimization for nonholonomic robots modeled as Dubins' vehicles. We present an improved solution that computes paths through two-dimensional waypoints, that are shorter than those produced by one of the most used techniques in the literature. We initially present an optimization cost function that proves to be better suited for the nonholonomic constraints of the vehicles that are the focus of this work. We also propose an improvement for the Alternating Algorithm, used to determinate the orientation angles on the calculation of the Dubins' Path through the waypoints. Finally, we use a recently developed optimization meta-heuristic, called Continuous-GRASP (C-GRASP), to generate a path that is shorter than paths obtained with classical techniques. Our results show significant improvements on the search for optimal paths for the case of nonholonomic vehicles. Our methodology was thoroughly evaluated and validated in simulation, and the results have shown a decrease on path's length of 28% on average, compared with the classic technique found in literature. In some cases a reduction of approximately 50% was obtained.
Starting Page	4208
Ending Page	4213
File Size	500304
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980239
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Robots Measurement Path planning Cost function
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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