Maximizing the coverage of roadmap graph for optimal motion planning

DOI10.1155/2018/9104720MaRDI QIDQ1723053zbMATH OpenOpenAlexFDO

Authors Jae-Han Park, Tae-Woong Yoon

Publication date 19 February 2019

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2018/9104720

Mathematics Subject Classification ID

Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: Automated motion-planning technologies for industrial robots are critical for their application to Industry 4.0. Various sampling-based methods have been studied to generate the collision-free motion of articulated industrial robots. Such sampling-based methods provide efficient solutions to complex planning problems, but their limitations hinder the attainment of optimal results. This paper considers a method to obtain the optimal results in the roadmap algorithm that is representative of the sampling-based method. We define the coverage of a graph as a performance index of its optimality as constructed by a sampling-based algorithm and propose an optimization algorithm that can maximize graph coverage in the configuration space. The proposed method was applied to the model of an industrial robot, and the results of the simulation confirm that the roadmap graph obtained by the proposed algorithm can generate results of satisfactory quality in path-finding tests under various conditions.

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Cited in

(1)

• DMVP: Foremost Waypoint Coverage of Time-Varying Graphs

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