Authors:
N. Montés
1
;
F. Chinesta
2
;
A. Falcó
1
;
M. C. Mora
3
;
L. Hilario
1
and
J. L. Duval
4
Affiliations:
1
Department of Physics, Mathematics and Technological Sciences, University CEU Cardenal Herrera, 46115, Alfara del Patriarca and Spain
;
2
PIMM, ENSAM ParisTech ESI GROUP Chair on Advanced Modeling and Simulation of Manufacturing Processes, Paris and France
;
3
Department of Mechanical Engineering and Construction, Universitat Jaume I, Castellón and Spain
;
4
ESI Group, RUNGIS CEDEX and France
Keyword(s):
Model Order Reduction Techniques, PGD, Path Planning, Potential Field Methods, Laplace Equation.
Related
Ontology
Subjects/Areas/Topics:
Evolutionary Computation and Control
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
The present paper shows, for the first time, the technique known as PGD-Vademecum as a global path planner for mobile robots. The main idea of this method is to obtain a Vademecum containing all the possible paths from any start and goal positions derived from a harmonic potential field in a predefined map. The PGD is a numerical technique with three main advantages. The first one is the ability to bring together all the possible Poisson equation solutions for all start and goal combinations in a map, guaranteeing that the resulting potential field does not have deadlocks. The second one is that the PGD-Vademecum is expressed as a sum of uncoupled multiplied terms: the geometric map and the start and goal configurations. Therefore, the harmonic potential field for any start and goal positions can be reconstructed extremely fast, in a nearly negligible computational time, allowing real-time path planning. The third one is that only a few uncoupled parameters are required to reconstruc
t the potential field with a low discretization error. Simulation results are shown to validate the abilities of this technique.
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