Safe path planning algorithms for mobile robots based on probabilistic foam

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dc.contributor.authorNascimento, L.B.P.
dc.contributor.authorBarrios-Aranibar, D.
dc.contributor.authorSantos, V.G.
dc.contributor.authorRibeiro, W.C.
dc.contributor.authorAlsina, P.J.
dc.date.accessioned2022-03-11T00:21:24Z
dc.date.available2022-03-11T00:21:24Z
dc.date.issued2021
dc.description.abstractThe planning of safe paths is an important issue for autonomous robot systems. The Probabilistic Foam method (PFM) is a planner that guarantees safe paths bounded by a sequence of structures called bubbles that provides safe regions. This method performs the planning by cov-ering the free configuration space with bubbles, an approach analogous to a breadth-first search. To improve the propagation process and keep the safety, we present three algorithms based on Probabilistic Foam: Goal-biased Probabilistic Foam (GBPF), Radius-biased Probabilistic Foam (RBPF), and Heuristic-guided Probabilistic Foam (HPF); the last two are proposed in this work. The variant GBPF is fast, HPF finds short paths, and RBPF finds high-clearance paths. Some simulations were performed using four different maps to analyze the behavior and performance of the methods. Besides, the safety was analyzed considering the new propagation strategies. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.es_PE
dc.description.uriTrabajo académicoes_PE
dc.identifier.doi10.3390/s21124156es_PE
dc.identifier.issn14248220
dc.identifier.urihttps://hdl.handle.net/20.500.12590/17075
dc.language.isoenges_PE
dc.publisherMDPI AGes_PE
dc.publisher.countryPEes_PE
dc.relationinfo:eu-repo/semantics/articlees_PE
dc.relation.urihttps://www.scopus.com/record/display.uri?eid=2-s2.0-85108064370&origin=resultslist&sort=plf-f&src=s&nlo=&nlr=&nls=&sid=bf6bae9a56b2331387d9f5550bd7ed65&sot=aff&sdt=cl&cluster=scopubyr%2c%222021%22%2ct&sl=48&s=AF-ID%28%22Universidad+Cat%c3%b3lica+San+Pablo%22+60105300%29&relpos=17&citeCnt=0&searchTerm=&featureToggles=FEATURE_NEW_DOC_DETAILS_EXPORT:1es_PE
dc.rightsinfo:eu-repo/semantics/restrictedAccesses_PE
dc.sourceUniversidad Católica San Pabloes_PE
dc.sourceRepositorio Institucional - UCSPes_PE
dc.subjectA* algorithmes_PE
dc.subjectBubbleses_PE
dc.subjectMobile robotes_PE
dc.subjectPath planninges_PE
dc.subjectProbabilistic foames_PE
dc.subjectSafetyes_PE
dc.subject.ocdehttps://purl.org/pe-repo/ocde/ford#2.02.00es_PE
dc.titleSafe path planning algorithms for mobile robots based on probabilistic foames_PE
dc.typeinfo:eu-repo/semantics/article
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_PE
renati.levelhttps://purl.org/pe-repo/renati/level#bachiller
renati.typehttps://purl.org/pe-repo/renati/type#trabajoAcademico
thesis.degree.disciplineIngeniería Electrónica y de Telecomunicacioneses_PE
thesis.degree.grantorUniversidad Católica San Pablo. Departamento de Ingeniería Eléctrica y Electrónicaes_PE
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