Open Access Open Access  Restricted Access Subscription or Fee Access

Collision-free Path Planning for Indoor Mobile Robots Based on Rapidly-exploring Random Trees and Piecewise Cubic Hermite Interpolating Polynomial

Abdelfetah Hentout, Abderraouf Maoudj, Dallel Guir, Souhila Saighi, Mohamed Aures Harkat, Mohamed Zakaria Hammouche, Azzeddine Bakdiy

Abstract



This paper deals with the off-line path planning problem for wheeled indoor mobile robots. In the proposed approach, the robot exploits depth information acquired by a two Kinect cameras vision system to perfectly model its surroundings environment. Then, the Rapidly-exploring Random Tree algorithm is used to generate a collision-free path linking the initial configuration (Source) to the final configuration (Target). This feasible path consists of a set of n nodes in form of vectors. Next, an algorithm is proposed to reduce the number of nodes and edges of the generated path. Finally, the found path is smoothed using Piecewise Cubic Hermite Interpolating Polynomial technique. The proposed RRT-PCHIP solution is validated on the differential mobile robot, RobuTER, evolving in an indoor environment cluttered with static obstacles. Obtained results are compared with another similar work using a Genetic Algorithm in terms of (i) generation time, (ii) path length, (iii) number of segments constituting the path and (iv) transfer time.

Keywords


Mobile robots, Off-line path planning, Rapidly-exploring Random Tree, Piecewise cubic Hermite Interpolating Polynomial, Two-Kinect system, Robot Operating System.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.