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Article: A bio-inspired intelligent approach to motion planning for mobile robots

TitleA bio-inspired intelligent approach to motion planning for mobile robots
Authors
KeywordsAttractive force
Automated guided vehicles
Bio-inspired
Computation overheads
Container terminal
Issue Date2011
PublisherCAD Solutions. The Journal's web site is located at http://www.cadanda.com
Citation
Computer-Aided Design and Applications, 2011, v. 8 n. 5, p. 773-783 How to Cite?
AbstractAlthough huge potentials abound for mobile robots in areas like military, traffic control, logistics, and computer graphics, practicable motion planning techniques have yet to be developed. This paper proposes a bio-inspired intelligent approach to motion planning for decentralised mobile objects in dynamic environments. It is inspired by the natural behaviours of creatures which tend to keep a safe distance between one another, and move towards their respective destinations. The proposed approach does not require any central controller, and there is no communication between robots. It instead imitates the characteristics of creatures with local sensing for detection of imminent neighbours and navigation. Each robot is assumed to be driven by a virtual attractive force of its destination and repulsive forces of its imminent neighbours. In particular, it features a module to detect imminent neighbours, reducing computation overheads and eliminating redundant robot movements. Moreover, in comparison with other methods that are mostly based on a simple function for virtual force calculation, the proposed approach adopts a more adaptive two-section function to calculate repulsive forces to improve collision avoidance. A simulator, with a case study of motion planning for free-range automated guided vehicles at a container terminal, is developed to implement and validate the proposed approach. © 2011 CAD Solutions.
Persistent Identifierhttp://hdl.handle.net/10722/137304
ISSN
2015 SCImago Journal Rankings: 0.310
References

 

DC FieldValueLanguage
dc.contributor.authorChoi, SHen_HK
dc.contributor.authorZhu, WKen_HK
dc.date.accessioned2011-08-26T14:22:55Z-
dc.date.available2011-08-26T14:22:55Z-
dc.date.issued2011en_HK
dc.identifier.citationComputer-Aided Design and Applications, 2011, v. 8 n. 5, p. 773-783en_HK
dc.identifier.issn1686-4360en_HK
dc.identifier.urihttp://hdl.handle.net/10722/137304-
dc.description.abstractAlthough huge potentials abound for mobile robots in areas like military, traffic control, logistics, and computer graphics, practicable motion planning techniques have yet to be developed. This paper proposes a bio-inspired intelligent approach to motion planning for decentralised mobile objects in dynamic environments. It is inspired by the natural behaviours of creatures which tend to keep a safe distance between one another, and move towards their respective destinations. The proposed approach does not require any central controller, and there is no communication between robots. It instead imitates the characteristics of creatures with local sensing for detection of imminent neighbours and navigation. Each robot is assumed to be driven by a virtual attractive force of its destination and repulsive forces of its imminent neighbours. In particular, it features a module to detect imminent neighbours, reducing computation overheads and eliminating redundant robot movements. Moreover, in comparison with other methods that are mostly based on a simple function for virtual force calculation, the proposed approach adopts a more adaptive two-section function to calculate repulsive forces to improve collision avoidance. A simulator, with a case study of motion planning for free-range automated guided vehicles at a container terminal, is developed to implement and validate the proposed approach. © 2011 CAD Solutions.en_HK
dc.languageengen_US
dc.publisherCAD Solutions. The Journal's web site is located at http://www.cadanda.comen_HK
dc.relation.ispartofComputer-Aided Design and Applicationsen_HK
dc.subjectAttractive forceen_HK
dc.subjectAutomated guided vehiclesen_HK
dc.subjectBio-inspireden_HK
dc.subjectComputation overheadsen_HK
dc.subjectContainer terminal-
dc.titleA bio-inspired intelligent approach to motion planning for mobile robotsen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1686-4360&volume=8 &issue=5&spage=773&epage=783&date=2011&atitle=A+Bio-inspired+Intelligent+Approach+to+Motion+Planning+for+Mobile+Robotsen_US
dc.identifier.emailChoi, SH: shchoi@hku.hken_HK
dc.identifier.emailZhu, WK: wkzhu@hku.hk-
dc.identifier.authorityChoi, SH=rp00109en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.3722/cadaps.2011.773-783en_HK
dc.identifier.scopuseid_2-s2.0-79960983486en_HK
dc.identifier.hkuros190921en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-79960983486&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume8en_HK
dc.identifier.issue5en_HK
dc.identifier.spage773en_HK
dc.identifier.epage783en_HK
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridZhu, WK=7404232249en_HK
dc.identifier.scopusauthoridChoi, SH=7408119615en_HK

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