Title: Stereovision-based robot motion planning with negotiation-selection mechanism in complex environments
Authors: Ming Bai; Wei Wang; Yan Zhuang
Addresses: Research Center of Information and Control, Dalian University of Technology, Dalian, 116024, China ' Research Center of Information and Control, Dalian University of Technology, Dalian, 116024, China ' Research Center of Information and Control, Dalian University of Technology, Dalian, 116024, China
Abstract: An interactive mechanism and modular approaches are proposed for hybrid motion planning. A bidirectional interaction is designed by deliberative candidates negotiating with the feedback on reactive evaluation. The deliberative module constructs a multilayer state lattice with switching control sets. Furthermore, a heuristic multitask-parallel algorithm efficiently generates desirable paths. The reactive module designs a hierarchical structure to integrate reaction optimisation and situation-dependent adjustment. Based on manifold correlations, piecewise criteria rather than a single function are proposed to cater for different stages of planning. Extensive experiments verify the efficacy, reliability and robustness of the approach in complex environments.
Keywords: non-holonomic mobile robots; hybrid motion planning; negotiation-selection mechanism; stereo vision; state lattices; hierarchical structure; robot motion; robot vision; switching control sets; path generation.
International Journal of Vehicle Autonomous Systems, 2013 Vol.11 No.4, pp.334 - 367
Received: 27 Jul 2010
Accepted: 01 Jan 2011
Published online: 15 Aug 2013 *