Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/53785

TitlePath planning towards non-compulsory multiple targets using TWIN-RRT*
Author(s)Pereira, Nino
Ribeiro, António Fernando
Lopes, Gil
Lino, Jorge
KeywordsMultiple targets
Path planning
Motion planning
Golf ball picking robot
RRT
TWIN-RRT
Issue date2016
PublisherEmerald
JournalIndustrial Robot-An International Journal
Abstract(s)Purpose – The purpose of this paper is to characterise the TWIN-RRT algorithm which solves a motion planning problem in which an agent has multiple possible targets where none of them is compulsory and retrieves feasible, “low cost”, asymptotically optimal and probabilistically complete paths. The TWIN-RRT algorithm solves path planning problems for both holonomic and non-holonomic robots with or without kinematic constraints in a 2D environment. Design/methodology/approach – It was designed to work equally well with higher degree of freedom agents in different applications. It provides a practical implementation of feasible and fast planning, namely where a closed loop is required. Initial and final configurations are allowed to be exactly the same. Findings – The TWIN-RRT algorithm computes an efficient path for a single agent towards multiple targets where none of them is mandatory. It inherits the low computational cost, probabilistic completeness and asymptotical optimality from RRT . Research limitations/implications – It uses efficiency as cost function, which can be adjusted to the requirements of any given application. TWIN-RRT also shows compliance with kinematic constraints. Practical implications – The practical application where this work has been used consists of an autonomous mobile robot that picks up golf balls in a driving range. The multiple targets are the golf balls and the optimum path is a requirement to reduce the time and energy to refill as quickly as possible the balls dispensing machine. Originality/value – The new random sampling algorithm – TWIN-RRT – is able to generate feasible efficient paths towards multiple targets retrieving closed-loop paths starting and finishing at the same configuration.
TypeArticle
URIhttp://hdl.handle.net/1822/53785
DOI10.1108/IR-02-2016-0069
ISSN0143-991X
Peer-Reviewedyes
AccessRestricted access (UMinho)
Appears in Collections:CAlg - Artigos em revistas internacionais/Papers in international journals

Files in This Item:
File Description SizeFormat 
IR-02-2016-0069 final.pdf
  Restricted access
508,9 kBAdobe PDFView/Open    Request a copy!

This item is licensed under a Creative Commons License Creative Commons

Partilhe no FacebookPartilhe no TwitterPartilhe no DeliciousPartilhe no LinkedInPartilhe no DiggAdicionar ao Google BookmarksPartilhe no MySpacePartilhe no Orkut
Exporte no formato BibTex mendeley Exporte no formato Endnote Adicione ao seu ORCID