TY - GEN
T1 - Search Methods in Motion Planning for Mobile Robots
AU - Paulino, Laura
AU - Hannum, Correy
AU - Varde, Aparna S.
AU - Conti, Christopher J.
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Mobile robots are used in a variety of applications ranging from domestic robotics to autonomous vehicles. In several applications, it is important to conduct motion planning for robots to find optimal paths with respect to parameters such as space and time. Classical search methods in the literature can be adapted to guide robotic paths and plan the motion of mobile robots. In this work, we explore three methods, namely the deterministic depth-first search and breadth-first search, and the heuristic A* search. We adapt these to the context of mobile robots navigating a maze and accordingly present the deployed algorithms and corresponding experiments with comparisons. These findings are useful in applications where mobile robots are utilized since the optimization of their paths is beneficial in motion planning. We explain applications of this study in areas such as human-robot collaboration (HRC) and unmanned aerial vehicles (UAVs) for motion planning in robotic paths.
AB - Mobile robots are used in a variety of applications ranging from domestic robotics to autonomous vehicles. In several applications, it is important to conduct motion planning for robots to find optimal paths with respect to parameters such as space and time. Classical search methods in the literature can be adapted to guide robotic paths and plan the motion of mobile robots. In this work, we explore three methods, namely the deterministic depth-first search and breadth-first search, and the heuristic A* search. We adapt these to the context of mobile robots navigating a maze and accordingly present the deployed algorithms and corresponding experiments with comparisons. These findings are useful in applications where mobile robots are utilized since the optimization of their paths is beneficial in motion planning. We explain applications of this study in areas such as human-robot collaboration (HRC) and unmanned aerial vehicles (UAVs) for motion planning in robotic paths.
KW - A search
KW - Breadth-first search
KW - Depth-first search
KW - Mobile robots
KW - Motion planning
KW - Robot path optimization
UR - http://www.scopus.com/inward/record.url?scp=85113736371&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-82199-9_54
DO - 10.1007/978-3-030-82199-9_54
M3 - Conference contribution
AN - SCOPUS:85113736371
SN - 9783030821982
T3 - Lecture Notes in Networks and Systems
SP - 802
EP - 822
BT - Intelligent Systems and Applications - Proceedings of the 2021 Intelligent Systems Conference, IntelliSys
A2 - Arai, Kohei
PB - Springer Science and Business Media Deutschland GmbH
T2 - Intelligent Systems Conference, IntelliSys 2021
Y2 - 2 September 2021 through 3 September 2021
ER -