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Path Planning and Obstacle Avoidance in CG Space of a 10 DOF Rover using RRT

Authors:

Shubhi Katiyar,

Ashish DuttaAuthors Info & Claims

AIR '19: Proceedings of the 2019 4th International Conference on Advances in Robotics

Article No.: 21, Pages 1 - 6

https://doi.org/10.1145/3352593.3352615

Published: 27 January 2020 Publication History

Abstract

There has been a recent demand for algorithms to plan the motion on 3D terrain for applications in space exploration, rescue and relief, unmanned vehicles, defense applications etc. Conventional path planning algorithms in 2D cannot be used in 3D as the work space cannot be divided into obstacles and free space. A few algorithms have been proposed for articulated rovers in 3D and they all require optimization to find the wheel and ground terrain contact and hence cannot be used in real time. In this paper, a new method is proposed to find the path in the CG space of a 10 DOF rover without the need for optimization. This CG space planning method can operate in real time. The CG space is the collection of possible CG points of the rover on a given terrain that is similar to the C-space in robot motion planning. The terrain geometry used for generating the CG position of rover is obtained using a Microsoft Kinect V2. A multivariable optimization process is used to extract the CG locus data of the rover as a discrete point cloud to generate CG space. Then using RRT* algorithm, the feasible path to reach a goal location from an initial point avoiding obstacles has been found out. During the motion planning for 10 DOF rover, RRT* algorithm directly samples a node from the CG locus data. It searches globally for an optimal path via two optimizing features in the extend function. Simulations on different types of terrains with different obstacle shapes show the usefulness of the method.

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Cited By

Katiyar SDutta A(2023)End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space frameworkRobotica10.1017/S0263574723001479(1-37)Online publication date: 17-Nov-2023
https://doi.org/10.1017/S0263574723001479
Katiyar SDutta A(2022)Comparative analysis on path planning of ATR using RRT*, PSO, and modified APF in CG-SpaceProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science10.1177/09544062211062435236:10(5663-5677)Online publication date: 19-Jan-2022
https://doi.org/10.1177/09544062211062435
Katiyar SDutta A(2022)Dynamic path planning over CG-Space of 10DOF Rover with static and randomly moving obstacles using RRT* rewiringRobotica10.1017/S026357472100184340:8(2610-2629)Online publication date: 7-Jan-2022
https://doi.org/10.1017/S0263574721001843

Index Terms

Path Planning and Obstacle Avoidance in CG Space of a 10 DOF Rover using RRT
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy

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cover image ACM Other conferences

AIR '19: Proceedings of the 2019 4th International Conference on Advances in Robotics

July 2019

423 pages

ISBN:9781450366502

DOI:10.1145/3352593

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IITM: Indian Institute of Technology, Madras

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 27 January 2020

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AIR 2019

AIR 2019: Advances in Robotics 2019

July 2 - 6, 2019

Chennai, India

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AIR '19 Paper Acceptance Rate 69 of 140 submissions, 49%;

Overall Acceptance Rate 69 of 140 submissions, 49%

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Cited By

Katiyar SDutta A(2023)End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space frameworkRobotica10.1017/S0263574723001479(1-37)Online publication date: 17-Nov-2023
https://doi.org/10.1017/S0263574723001479
Katiyar SDutta A(2022)Comparative analysis on path planning of ATR using RRT*, PSO, and modified APF in CG-SpaceProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science10.1177/09544062211062435236:10(5663-5677)Online publication date: 19-Jan-2022
https://doi.org/10.1177/09544062211062435
Katiyar SDutta A(2022)Dynamic path planning over CG-Space of 10DOF Rover with static and randomly moving obstacles using RRT* rewiringRobotica10.1017/S026357472100184340:8(2610-2629)Online publication date: 7-Jan-2022
https://doi.org/10.1017/S0263574721001843

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