A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm
In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task's completion time. Accordingly, a new approach based on Pythagorean Hodogra...
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| Vydáno v: | Engineering optimization Ročník 49; číslo 11; s. 1995 - 2012 |
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| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Abingdon
Taylor & Francis
02.11.2017
Taylor & Francis Ltd |
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| ISSN: | 0305-215X, 1029-0273 |
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| Abstract | In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task's completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task's completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach. |
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| AbstractList | In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task's completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task's completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach. |
| Author | Rao, Xiao Yi, Jin Zheng, Yun Zeng, Wenhui |
| Author_xml | – sequence: 1 givenname: Wenhui surname: Zeng fullname: Zeng, Wenhui organization: The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology – sequence: 2 givenname: Jin surname: Yi fullname: Yi, Jin email: yijin@hust.edu.cn organization: The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology – sequence: 3 givenname: Xiao surname: Rao fullname: Rao, Xiao organization: Department of Financial Management School of Business, Nankai University – sequence: 4 givenname: Yun surname: Zheng fullname: Zheng, Yun organization: The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology |
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| SubjectTerms | Algorithms Collision avoidance Completion time harmony search algorithm Kinematics Multiple car-like robots Optimization Path planning PH curves Product design Production scheduling Robots Search algorithms variable motion |
| Title | A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm |
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