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Abstract— In this paper, three path planning algorithms and latter subjects have a direct effect in system energy consuming
the comparison between them are described in terms of which has connection with lifetime of the system. Some of
processing time and path distance values. The algorithms which algorithms which are used for path finding can be regarded
are used in this paper are, Genetic Algorithm (GA), as, artificial potential field with fuzzy logic [2] and integrated
Bidirectional Rapidly-Exploring Random Tree (BRRT) particle swarm optimization [3].
algorithm and Potential Field algorithm. According to the
simulation results which are obtained based on MATLAB The main contributions of this paper can be considered as,
simulation, the performance of the designed potential field comparing GA, BRRT and Potential Field path-planning
algorithm is better than the other ones in terms of processing algorithms in order to find a high performance path-planning
time and the path distance values. Indeed, the designed potential algorithm in terms of process time and the path distance values
field algorithm is considered as the one that is chosen to be used to use in vision based control process and finally
in vision based control process. The proposed process is used to implementing the aforementioned vision based control
path finding for a spherical rolling robot, which is named TSR. methods in a spherical rolling robot.
A fixed camera on top of the proposed robot’s workspace is
connected to a laptop, which is used as the main core of vision The remainder of this paper is organized as follows. First,
based control processor unit. The experimental results based on three path-planning algorithms are presented and compared.
implementing the potential field approach as path planning In Section 2, the vision based control procedure is presented.
algorithm, verified the desirable performance of it in terms of Finally, the experimental results of implementation of the
finding a short and accurate path in an acceptable time. Finally, proposed vision based control method is presented.
the effect of using the proposed vision based control method is
assessed. The experimental results based on combining the
aforementioned control methods verified the significant
performance of the propounded spherical rolling robot in terms II. PATH PLANNING ALGORITHMS
of path finding and following. Finding path, especially a short path between the source
and goal points is one of the main issues of mobile robots,
Keywords— Path planning ; Potential Field ; Bidirectional which has direct relation with time and energy saving. In this
Rapidly-Exploring Random Tree (BRRT) algorithm ; vision based
section three designed and implemented path planning
control ; Spherical rolling robot
algorithms are investigated and compared with each other in
terms of the computational time for calculating the path
distance value and distance value of the obtained path.
I. INTRODUCTION
In recent decades the widespread applications of mobile A. Genetic Algorithm
robots as a helpful device in solving different problems in Genetic Algorithm is a randomized searching policy via
various applications has stimulated the interests of many applying an evolutionary optimization method on the laws of
researchers and involved people in industry. One of the biological selection to solve any possible optimization
applicable mobile robots is spherical rolling robot. The natural problem. In GA approach, every solution to an optimization
characteristics of the spherical rolling robots in terms of problem is considered as an individual with unique
moving in any directions with the lowest demand to change characteristics which can be encoded into a finite set of
the robot’s position make them so useful [1]. parameters, or in other words genes or genetic information.
These genetic information or gens that make up chromosomes
One of the main challenges of the mobile robots consists can form a population function and fitness function which is
in their path planning and obstacle avoidance techniques. The used to estimate the real world structure of individuals in these
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The total potential is obtained by summation of attractive and III. VISION BASED PATH PLANNING CONCEPT
repulsive potential. The attractive potential function, is According to the sensor installation limitation which is
described as follows [7]: caused based on the spherical shape of the TSR robot, the
| − | , | − |≤ vision based path planning based on potential field method is
( )= (1)
(2 | − | − ), | − |> chosen as a solution to control the under study spherical
rolling robot. In order to achieve a global image from the
Where d, x and are the distance between the robot and proposed robot’s workspace a camera is set on the ceiling, on
the goal, the robot and goal position vector, respectively. The top of the robot’s workspace.
variable ξ in Eq. (1) is the attraction gain coefficient. The
gradient of the Eq. (1) is attractive force which is obtained as
follows: TABLE I: The proposed GA, BRRT and potential field algorithms
performance in terms of processing time and obtained path distance.
2 ( − ), | − |≤
( ) = −∇ = (2) Algorithm Time(A) Distance(A) Time(B) Distance(B)
2 | , | − |>
| GA 5.165006e+0 1716 2.372744 1671
2 e+01
The repulsive potential function is defined as follows:
BRRT 4.139758e+0 1.578909e+0 4.884343 2.639219e+0
Υ( − ) , δ≤δ 0 3 e+00 3
( )= (3)
0 , δ>δ Potential 3.924764e+0 1.523337e+0 1.825863 1.631966e+0
field 0 3 e+00 3
Where is the repulsive potential function and Υ, δ and
δ are the repulsive gain, the limit distance of potential field
influence and the shortest distance to the obstacle,
respectively.
Derivative of Eq. (3) results in the repulsive force. By
considering as the repulsive force, one has:
Υ( − ) , δ≤δ
( ) = −∇ = (4)
0 , δ>δ
By considering Eqs. (2) and (4) The generalized force F(x)
is calculated as follows:
( ) = − ∇U(x) = −∇ −∇ = ( )+
( ) (5)
The pseudo code for the Potential field algorithm is shown in
Algorithm2.
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(a) The path which is found based on GA.
(a) The path which is found based on GA.
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(c) 4s.
(d) 6s.
(e) 8s.
(f) 10s.
Fig. 5: Process of the experimental test in obstacle detection, numbering
and short path defining based on potential field for the TSR spherical rolling
robot.
REFERENCES
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