A waypoint navigation method with collision avoidance using an artificial potential method on random priority
| Autor: | Yuichi Yaguchi, Kyota Tamagawa |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Computer science
Delaunay triangulation ComputerSystemsOrganization_COMPUTER-COMMUNICATIONNETWORKS 0206 medical engineering Real-time computing Navigation system 02 engineering and technology 020601 biomedical engineering General Biochemistry Genetics and Molecular Biology law.invention 03 medical and health sciences Waypoint 0302 clinical medicine Artificial Intelligence Aloha law Autopilot Robot Motion planning 030217 neurology & neurosurgery Collision avoidance |
| Zdroj: | Artificial Life and Robotics. 25:278-285 |
| ISSN: | 1614-7456 1433-5298 |
| DOI: | 10.1007/s10015-020-00583-w |
| Popis: | This paper proposes a waypoint navigation method with collision avoidance using an artificial potential method on random priority. To establish a multi-robot navigation system that consists of various tasks, the navigation system needs to avoid collisions by communicating with each robot path on-site. Robots have an autopilot system that includes waypoint navigation, but using this navigation method to avoid collisions is more difficult than using entire path planning. For waypoint-based path planning, we proposed a novel waypoint correction method using the artificial potential method with random priority. In addition to that, we proposed a speeding up algorithm for the artificial potential method with k-nearest neighbor and Delaunay triangulation. Our experimental results show that using random priority is sufficient to provide over 80% improvement to reach the desired speed, and the proposed random priority is similar to using general wireless conditions such as slotted ALOHA. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full text from SpringerLink