Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

• Type: Article in International Scientific Journal
• Date: 2020

Authors

Coelho, FO (Author) Other; Pinto, MF (Author) Other; Souza, JPC (Author) FEUP; Marcato, ALM (Author) Other

Journal

Title: Robotica

Vol. 38

Pages: 1000-1018

ISSN: 0263-5747

Publisher: Cambridge University Press

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 3 Citations

Other information

Authenticus ID: P-00Q-WRY

DOI: 10.1017/s0263574719001206

Abstract (EN): In recent years, mobile robots have become increasingly frequent in daily life applications, such as cleaning, surveillance, support for the elderly and people with disabilities, as well as hazardous activities. However, a big challenge arises when the robotic system must perform a fully autonomous mission. The main problems of autonomous missions include path planning, localisation, and mapping. Thus, this research proposes a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the artificial potential fields algorithm as the online planner. The experimental design covers three scenarios with an increasing degree of accuracy in respect of the real world. Additionally, an extensive evaluation of the proposed methodology is reported.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 19