This paper presents a component of the on-line tasklevel planning system of the mobile, two-arm robot KAMRO, which is being developed at our Institute. This component generates sequences of explicit robot motions for achieving the goals of elementary assembly operations, and supervises their execution by the real-time robot control system, according to implicitly specified pick-and-place operat...

This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both off-line and on-line motion planning. We first presents a GA for path planning in a 2D terrain. Simulation results on...

The application of Cellular Automata to the problem of robot path planning is presented. It is shown that a Cellular Automata allows the efficient computation of an optimal collision free path from an initial to a goal configuration on a physical space cluttered with obstacles. The cellular space represents a discrete version of the workspace for a mobile robot. The path computation is performe...

This paper presents a technique for incorporating terrain traversability data into a global path planning method for field mobile robots operating on rough natural terrain. The focus of this approach is on assessing the traversability characteristics of the global terrain using a multi-valued map representation of traversal dificulty, and using this information to compute a traversal cost funct...

In interactive human-robot path-planning, a capability for expressing the path topology provides a natural mechanism for describing task requirements. We propose a topology-aware RRT* algorithm that can explore in parallel any given set of topologies. The topological information used by the algorithm can either be assigned by the human prior to the planning or be selected from the human in post...

Global path planning for mobile robot using genetic algorithm and A* algorithm is investigated in this paper. The proposed algorithm includes three steps: the MAKLINK graph theory is adopted to establish the free space model of mobile robots firstly, then Dijkstra algorithm is utilized for finding a feasible collision-free path, finally the global optimal path of mobile robots is obtained based...

The complete coverage path planning algorithm based on A* algorithms for the cleaning robot in known environment is proposed in this paper, which uses A* algorithm as heuristic in the U-turn search algorithm. The idea of this algorithm is the cleaning robot clean the cleaning area from the point of origin by using U-turn algorithm, then planning of the shortest path from cleaning robot to not c...

In the field of robotics, before the conception of any approach to solve robot path planning, it would be the procedure to derive a model for the problem and solution theoretically, then going for simulations to verify the derived model and then implemented and validated in the real time applications, by taking into account many real time factors. This survey studies the evolution of implementa...

In contrast to classic geometric motion planning, informative path planning (IPP) seeks a path for a robot to sense the world and gain information. In adaptive IPP, the robot chooses the next sensing location conditioned on all information acquired so far, and the robot’s goal is to minimize the travel cost required for identifying a true hypothesis. Adaptive IPP is NP-hard, because the robot m...

A path planning method for mobile robots based on two dimensional cellular automata is proposed. The method can be applied for environments with both concave and convex obstacles. It is also appropriate for multi-robot problems as well as dynamic environments. In order to develop the planning method, environment of the robot is decomposed to a rectangular grid and the automata is defined with f...