Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1108/IR-02-2016-0069 | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION |
Keywords | Field | DocType |
Multiple targets, Path planning, Motion planning, Golf ball picking robot, RRT, TWIN-RRT | Motion planning,Mathematical optimization,Holonomic,Kinematics,Simulation,Driving range,Engineering,Probabilistic logic,Robot,Asymptotically optimal algorithm,Mobile robot | Journal |
Volume | Issue | ISSN |
43 | 4 | 0143-991X |
Citations | PageRank | References |
1 | 0.40 | 8 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nino Pereira | 1 | 4 | 1.92 |
| Fernando Ribeiro | 2 | 78 | 10.36 |
| Gil Lopes | 3 | 8 | 4.34 |
| Jorge Lino | 4 | 1 | 0.40 |