Real path planning based on genetic algorithm and Voronoi diagrams
Resumen:
In the context of Mobile Robotics, the efficient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static environments. In our proposal, the path planning is based on Voronoi diagrams, where obstacles in the environment are considered as the generating points of the diagram, and a genetic algorithm is used to find a path without collisions from the robot initial to target position. This work combines some ideas presented by Roque and Doering, who use Voronoi diagrams for modelling the environment, and other ideas presented by Zhang et al. who adopt a genetic algorithm for computing paths on a regular grid based environment, considering certain quality attributes. The main results were probed both in simulated and real environments.
| 2011 | |
|
Autonomous mobile robots Path planning Voronoi diagrams Genetic algorithms ROBOTS MOVILES |
|
| Inglés | |
| Universidad de la República | |
| COLIBRI | |
| https://hdl.handle.net/20.500.12008/23034 | |
| Acceso abierto | |
| Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| _version_ | 1807522888577712128 |
|---|---|
| author | Benavides Olivera, Facundo |
| author2 | Tejera, Gonzalo Pedemonte, Martín Casella, Serrana |
| author2_role | author author author |
| author_facet | Benavides Olivera, Facundo Tejera, Gonzalo Pedemonte, Martín Casella, Serrana |
| author_role | author |
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| collection | COLIBRI |
| dc.contributor.filiacion.none.fl_str_mv | Benavides Olivera Facundo, Universidad de la República (Uruguay). Facultad de Ingeniería Tejera Gonzalo, Universidad de la República (Uruguay). Facultad de Ingeniería Pedemonte Martín, Universidad de la República (Uruguay). Facultad de Ingeniería Casella Serrana, Universidad de la República (Uruguay). Facultad de Ingeniería |
| dc.creator.none.fl_str_mv | Benavides Olivera, Facundo Tejera, Gonzalo Pedemonte, Martín Casella, Serrana |
| dc.date.accessioned.none.fl_str_mv | 2020-02-04T17:37:25Z |
| dc.date.available.none.fl_str_mv | 2020-02-04T17:37:25Z |
| dc.date.issued.none.fl_str_mv | 2011 |
| dc.description.abstract.none.fl_txt_mv | In the context of Mobile Robotics, the efficient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static environments. In our proposal, the path planning is based on Voronoi diagrams, where obstacles in the environment are considered as the generating points of the diagram, and a genetic algorithm is used to find a path without collisions from the robot initial to target position. This work combines some ideas presented by Roque and Doering, who use Voronoi diagrams for modelling the environment, and other ideas presented by Zhang et al. who adopt a genetic algorithm for computing paths on a regular grid based environment, considering certain quality attributes. The main results were probed both in simulated and real environments. |
| dc.description.es.fl_txt_mv | Postprint |
| dc.format.mimetype.es.fl_str_mv | application/pdf |
| dc.identifier.citation.es.fl_str_mv | Benavides Olivera, F., Tejera, G., Pedemonte, M. y Casella, S. Real path planning based on genetic algorithm and Voronoi diagrams. En: IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control : Oct 1-4. [en línea]. Bogotá: IEEE, 2011, pp. 1-6. doi: 10.1109/LARC.2011.6086816 |
| dc.identifier.doi.none.fl_str_mv | 10.1109/LARC.2011.6086816 |
| dc.identifier.uri.none.fl_str_mv | https://hdl.handle.net/20.500.12008/23034 |
| dc.language.iso.none.fl_str_mv | en eng |
| dc.publisher.es.fl_str_mv | IEEE |
| dc.relation.ispartof.es.fl_str_mv | IEEE IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 1-4 Oct. 2011. |
| dc.rights.license.none.fl_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:COLIBRI instname:Universidad de la República instacron:Universidad de la República |
| dc.subject.es.fl_str_mv | Autonomous mobile robots Path planning Voronoi diagrams Genetic algorithms |
| dc.subject.other.es.fl_str_mv | ROBOTS MOVILES |
| dc.title.none.fl_str_mv | Real path planning based on genetic algorithm and Voronoi diagrams |
| dc.type.es.fl_str_mv | Artículo |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article |
| dc.type.version.none.fl_str_mv | info:eu-repo/semantics/publishedVersion |
| description | Postprint |
| eu_rights_str_mv | openAccess |
| format | article |
| id | COLIBRI_472ce04506639fe0b6e53396dd0819b8 |
| identifier_str_mv | Benavides Olivera, F., Tejera, G., Pedemonte, M. y Casella, S. Real path planning based on genetic algorithm and Voronoi diagrams. En: IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control : Oct 1-4. [en línea]. Bogotá: IEEE, 2011, pp. 1-6. doi: 10.1109/LARC.2011.6086816 10.1109/LARC.2011.6086816 |
| instacron_str | Universidad de la República |
| institution | Universidad de la República |
| instname_str | Universidad de la República |
| language | eng |
| language_invalid_str_mv | en |
| network_acronym_str | COLIBRI |
| network_name_str | COLIBRI |
| oai_identifier_str | oai:colibri.udelar.edu.uy:20.500.12008/23034 |
| publishDate | 2011 |
| reponame_str | COLIBRI |
| repository.mail.fl_str_mv | mabel.seroubian@seciu.edu.uy |
| repository.name.fl_str_mv | COLIBRI - Universidad de la República |
| repository_id_str | 4771 |
| rights_invalid_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| spelling | Benavides Olivera Facundo, Universidad de la República (Uruguay). Facultad de IngenieríaTejera Gonzalo, Universidad de la República (Uruguay). Facultad de IngenieríaPedemonte Martín, Universidad de la República (Uruguay). Facultad de IngenieríaCasella Serrana, Universidad de la República (Uruguay). Facultad de Ingeniería2020-02-04T17:37:25Z2020-02-04T17:37:25Z2011Benavides Olivera, F., Tejera, G., Pedemonte, M. y Casella, S. Real path planning based on genetic algorithm and Voronoi diagrams. En: IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control : Oct 1-4. [en línea]. Bogotá: IEEE, 2011, pp. 1-6. doi: 10.1109/LARC.2011.6086816https://hdl.handle.net/20.500.12008/2303410.1109/LARC.2011.6086816PostprintIn the context of Mobile Robotics, the efficient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static environments. In our proposal, the path planning is based on Voronoi diagrams, where obstacles in the environment are considered as the generating points of the diagram, and a genetic algorithm is used to find a path without collisions from the robot initial to target position. This work combines some ideas presented by Roque and Doering, who use Voronoi diagrams for modelling the environment, and other ideas presented by Zhang et al. who adopt a genetic algorithm for computing paths on a regular grid based environment, considering certain quality attributes. The main results were probed both in simulated and real environments.Submitted by Machado Jimena (jmachado@fing.edu.uy) on 2020-02-03T20:09:32Z No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) BTPC19.pdf: 558006 bytes, checksum: 8e3b22318624ed853ea9c33a4b05f9f7 (MD5)Approved for entry into archive by Machado Jimena (jmachado@fing.edu.uy) on 2020-02-04T17:11:21Z (GMT) No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) BTPC19.pdf: 558006 bytes, checksum: 8e3b22318624ed853ea9c33a4b05f9f7 (MD5)Made available in DSpace by Seroubian Mabel (mabel.seroubian@seciu.edu.uy) on 2020-02-04T17:37:25Z (GMT). No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) BTPC19.pdf: 558006 bytes, checksum: 8e3b22318624ed853ea9c33a4b05f9f7 (MD5) Previous issue date: 2011application/pdfenengIEEEIEEE IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 1-4 Oct. 2011.Las obras depositadas en el Repositorio se rigen por la Ordenanza de los Derechos de la Propiedad Intelectual de la Universidad de la República.(Res. Nº 91 de C.D.C. de 8/III/1994 – D.O. 7/IV/1994) y por la Ordenanza del Repositorio Abierto de la Universidad de la República (Res. Nº 16 de C.D.C. de 07/10/2014)info:eu-repo/semantics/openAccessLicencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0)Autonomous mobile robotsPath planningVoronoi diagramsGenetic algorithmsROBOTS MOVILESReal path planning based on genetic algorithm and Voronoi diagramsArtículoinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionreponame:COLIBRIinstname:Universidad de la Repúblicainstacron:Universidad de la RepúblicaBenavides Olivera, FacundoTejera, GonzaloPedemonte, MartínCasella, SerranaLICENSElicense.txtlicense.txttext/plain; charset=utf-84267http://localhost:8080/xmlui/bitstream/20.500.12008/23034/5/license.txt6429389a7df7277b72b7924fdc7d47a9MD55CC-LICENSElicense_urllicense_urltext/plain; charset=utf-850http://localhost:8080/xmlui/bitstream/20.500.12008/23034/2/license_urla006180e3f5b2ad0b88185d14284c0e0MD52license_textlicense_texttext/html; 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- Universidad de la Repúblicafalse |
| spellingShingle | Real path planning based on genetic algorithm and Voronoi diagrams Benavides Olivera, Facundo Autonomous mobile robots Path planning Voronoi diagrams Genetic algorithms ROBOTS MOVILES |
| status_str | publishedVersion |
| title | Real path planning based on genetic algorithm and Voronoi diagrams |
| title_full | Real path planning based on genetic algorithm and Voronoi diagrams |
| title_fullStr | Real path planning based on genetic algorithm and Voronoi diagrams |
| title_full_unstemmed | Real path planning based on genetic algorithm and Voronoi diagrams |
| title_short | Real path planning based on genetic algorithm and Voronoi diagrams |
| title_sort | Real path planning based on genetic algorithm and Voronoi diagrams |
| topic | Autonomous mobile robots Path planning Voronoi diagrams Genetic algorithms ROBOTS MOVILES |
| url | https://hdl.handle.net/20.500.12008/23034 |
