A PGD-based Method for Robot Global Path Planning: A Primer

N. Montés, F. Chinesta, A. Falcó, M. Mora, L. Hilario, J. Duval

2019

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 reconstruct the potential field with a low discretization error. Simulation results are shown to validate the abilities of this technique.

Paper Citation

in Harvard Style

Montés N., Chinesta F., Falcó A., Mora M., Hilario L. and Duval J. (2019). A PGD-based Method for Robot Global Path Planning: A Primer.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 31-39. DOI: 10.5220/0007809000310039

in Bibtex Style

@conference{icinco19,
author={N. Montés and F. Chinesta and A. Falcó and M. Mora and L. Hilario and J. Duval},
title={A PGD-based Method for Robot Global Path Planning: A Primer},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={31-39},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007809000310039},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A PGD-based Method for Robot Global Path Planning: A Primer
SN - 978-989-758-380-3
AU - Montés N.
AU - Chinesta F.
AU - Falcó A.
AU - Mora M.
AU - Hilario L.
AU - Duval J.
PY - 2019
SP - 31
EP - 39
DO - 10.5220/0007809000310039