### Abstract

Language | English |
---|---|

Pages | 774-787 |

Number of pages | 14 |

Journal | Journal of Computer Science and Technology |

Volume | 20 |

Issue number | 6 |

DOIs | |

Publication status | Published - 30 Nov 2005 |

### Fingerprint

### Keywords

- path planning
- obstacle avoidance
- autonomous underwater vehicles
- robotics

### Cite this

*Journal of Computer Science and Technology*,

*20*(6), 774-787. https://doi.org/10.1007/s11390-005-0774-x

}

*Journal of Computer Science and Technology*, vol. 20, no. 6, pp. 774-787. https://doi.org/10.1007/s11390-005-0774-x

**A generalized real-time obstacle avoidance method without the cspace calculation.** / Wang, Yong-Ji; Cartmell, Matthew; Tao, Qui-Ming; Liu, Han.

Research output: Contribution to journal › Article

TY - JOUR

T1 - A generalized real-time obstacle avoidance method without the cspace calculation

AU - Wang, Yong-Ji

AU - Cartmell, Matthew

AU - Tao, Qui-Ming

AU - Liu, Han

PY - 2005/11/30

Y1 - 2005/11/30

N2 - An important concept proposed in the early stage of robot path planning field is the shrinking of a robot to a point and meanwhile the expanding of obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision-free path for a point robot among the Cspace obstacles. However, the research experiences have shown that the Cspace transformation is very hard when the following situations occur: 1) both the robot and obstacles are not polygons, and 2) the robot is allowed to rotate. This situation gets even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. For this reason, direct path planning approaches without the Cspace transformation is quite useful and expected. Motivated by the practical requirements of robot path planning, a generalized constrained optimization problem (GCOP) with not only logic AND but also logic OR relationships was proposed and a mathematical solution developed previously. This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work, converts the obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of the mathematical transformation, and proposes a direct path planning approach without Cspace calculation, which is quite different from traditional methods. To show its merits, simulation results in 3D space have been presented.

AB - An important concept proposed in the early stage of robot path planning field is the shrinking of a robot to a point and meanwhile the expanding of obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision-free path for a point robot among the Cspace obstacles. However, the research experiences have shown that the Cspace transformation is very hard when the following situations occur: 1) both the robot and obstacles are not polygons, and 2) the robot is allowed to rotate. This situation gets even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. For this reason, direct path planning approaches without the Cspace transformation is quite useful and expected. Motivated by the practical requirements of robot path planning, a generalized constrained optimization problem (GCOP) with not only logic AND but also logic OR relationships was proposed and a mathematical solution developed previously. This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work, converts the obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of the mathematical transformation, and proposes a direct path planning approach without Cspace calculation, which is quite different from traditional methods. To show its merits, simulation results in 3D space have been presented.

KW - path planning

KW - obstacle avoidance

KW - autonomous underwater vehicles

KW - robotics

UR - http://link.springer.com/article/10.1007/s11390-005-0774-x?view=classic

U2 - 10.1007/s11390-005-0774-x

DO - 10.1007/s11390-005-0774-x

M3 - Article

VL - 20

SP - 774

EP - 787

JO - Journal of Computer Science and Technology

T2 - Journal of Computer Science and Technology

JF - Journal of Computer Science and Technology

SN - 1000-9000

IS - 6

ER -