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Path Planning: Fanzhang

This document discusses various path planning techniques for robots. It begins by defining path planning as finding a continuous path to move a robot from a start to goal configuration while avoiding obstacles. Common early techniques like artificial potential fields and cell decomposition are mentioned, but probabilistic roadmaps (PRM) and rapidly-exploring random trees (RRT) are now more widely used. The document also discusses applications of path planning for agriculture using multispectral images and coverage path planning for UAVs that minimizes energy consumption.

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40 views32 pages

Path Planning: Fanzhang

This document discusses various path planning techniques for robots. It begins by defining path planning as finding a continuous path to move a robot from a start to goal configuration while avoiding obstacles. Common early techniques like artificial potential fields and cell decomposition are mentioned, but probabilistic roadmaps (PRM) and rapidly-exploring random trees (RRT) are now more widely used. The document also discusses applications of path planning for agriculture using multispectral images and coverage path planning for UAVs that minimizes energy consumption.

Uploaded by

fan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Path Planning

FanZhang
Definition
• Path planning is the task of finding a continuous path that will
drive the robot from the start to the goal configuration
• Environment is known
Robotic Kinetiq Teaching

• Low efficiency
• Can not deal with environment change
• Need to re-teach when updating product
ICRA
1.Deep Learning in Robotics and Automation,
2.Motion and Path Planning,
3.Learning and Adaptive Systems,
4. Localization,
5. SLAM,
6.Multi-Robot Systems,
7. Optimization and Optimal Control,
8.Autonomous Vehicle Navigation,
9.Mapping,
10.Aerial Systems - Applications.

2015 2018 2019


Artificial potential field
• Attractive field around desired position
• Repulsive field around obstacle position.
Graph searching
Cell Decomposition
Probabilistic Road Maps
PRM Pseudo Code
G(V,E) = Null //Initialize a graph as empty
limit = n //number of nodes to make graph out of
Rad = r //radius of neighborhoods
For itr in 0...limit:
Xnew = RandomPosition()
Xnearest = Near(G(V,E),Xnew,Rad) //find all nodes within a Rad
Xnearest = sort(Xnearest) //sort by increasing distance
For node in Xnearest:
if not ConnectedComp(Xnew,node) and not Obstacle(Xnew,node):
G(V,E) += {Xnew,node} //add edge and node to graph
Xnew.comp += node.comp//add Xnew to connected component
Return G(V,E)
Collision detection-Hierarchical Methods
Path planning—RRT ( Rapidly-exploring
random tree)
Disadvantage
Randomness:
• Environment sensitive
Application on robotics
• Artificial potential field: hard to construct fields in configuration space
• Cell decomposition: heavy calculation burden.
• RRT and PRM are mainstream algorithm.
Configuration space
Application on robotics
•  Artificial potential field: hard to construct fields in configuration space
• Cell decomposition: heavy calculation burden.
E.g. 6DOF robot, sampling rate, will have 60^6=4.67*10^10 sample
points
• RRT and PRM are mainstream algorithm.
Agriculture application
Multispectral images: near-infrared view
visual spectrum view
M. Coombes, W. Chen and C. Liu,
"Fixed Wing UAV Survey Coverage Path Planning
in Wind for Improving Existing Ground Control Station Software,“
2018 37th Chinese Control Conference (CCC.
M. Coombes, W. Chen and C. Liu, "Fixed Wing UAV Survey Coverage Path Planning in Wind for Improving
Existing Ground Control Station Software," 2018 37th M. Coombes, W. Chen and C. Liu, "Fixed Wing UAV
Survey Coverage Path Planning in Wind for Improving Existing Ground Control Station Software," 2018
37th Chinese Control Conference (CCC), Wuhan, 2018, pp. 9820-9825.Control Conference (CCC), Wuhan,
2018, pp. 9820-9825.
This paper proposes an energy-aware
path planning algorithm that minimizes
energy consumption while satisfying a
set of other requirements,
such as coverage and resolution. 

C. D. Franco and G. Buttazzo,


"Energy-Aware Coverage Path Planning of UAVs,"
2015 IEEE International Conference on Autonomous Robot Systems and Competitions, Vila Real, 2015, pp. 111-117.
Self parking car
Dubins path

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