Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding

نویسندگان

چکیده

Aiming at the problem of low efficiency and large memory consumption in mobile robot path planning, this paper proposes an improved version RRT*Fixed Nodes( RRT*FN )algorithm based on adaptive threshold, named A-RRT*FN. The algorithm constructs a sampling tree two directions starting point, target point adaptively sets threshold according to environment both sides improve environmental adaptability search speed algorithm. Secondly, node elimination strategy is proposed quickly locate low-performance nodes reduce number iterations occupation nodes. Finally, smoothing used smooth obstacle-free obtain more suitable for tracking control. compared with RRT* FN, Fast-RRT, Improved Bi-RRT* algorithms under three different maps simple, narrow, complex. results show that has better performance convergence consumption.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

PSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

متن کامل

Adaptive Path Planning : Algorithm and Analysis * Pang

To address the need for a fast path planner, we present a learning algorithm that improves path planning by using past experience to enhance future performance. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, an evolving sparse network of useful robot configurations is learned to support faster planning. More generally, the algorit...

متن کامل

pso-based path planning algorithm for humanoid robots considering safety

in this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses ferguson splines and pso (particle swarm optimization). the objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. ferguson splines create preliminary paths using random generated para...

متن کامل

Adaptive Thresholding in Marine RADARs

In order to detect targets upon sea surface or near it, marine radars should be capable of distinguishing signals of target reflections from the sea clutter. Our proposed method in this paper relates to detection of dissimilar marine targets in an inhomogeneous environment with clutter and non-stationary noises, and is based on adaptive thresholding determination methods. The variance and t...

متن کامل

A Path Planning Method Based on Adaptive Genetic Algorithm for a Shape-shifting Robot

A shape-shifting robot with changeable configurations can accomplish search and rescue tasks which could not be achieved by manpower sometimes. The accessibility of this robot to uneven environment was efficiently enlarged by changing its configuration. In this paper, a path planning method is presented that integrates the reconfigurable ability of the robot with the potential field law. An ada...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IEEE Access

سال: 2023

ISSN: ['2169-3536']

DOI: https://doi.org/10.1109/access.2023.3300244