0% Complete
صفحه اصلی
/
سی و دومین کنفرانس بین المللی مهندسی برق
Temporary Goal Method: A Solution for the Problem of Getting Stuck in Motion Planning Algorithms
نویسندگان :
Danial Khan mohamad zade
1
Samaneh Hosseini Semnani
2
1- دانشکده برق و کامپیوتر، دانشگاه صنعتی اصفهان
2- دانشکده برق و کامپیوتر، دانشگاه صنعتی اصفهان
کلمات کلیدی :
collision avoidance،motion planning،mobile robot،stuck
چکیده :
One of the most important achievements of humans is robotic, which has gradually faced with many challenges in various domains with its advancement. One of the most important of these challenges is robot motion planning, To improve performance of robot motion planning both classic algorithms and learning-based algorithms have been introduced. However, these algorithms often encounter the problem of getting stuck. This article introduces a method called Temporary Goal, which adds a mechanism to any motion planning algorithm in situations where the robot is stopped and unable to move, and has a high capability to overcome this problem. This method has been implemented on the well-known RVO algorithm. The experiments conducted for the Temporary Goal method demonstrate an improvement in RVO's performance in dealing with getting stuck. In the scenarios tested in this article, this method demonstrates an average performance improvement of over 4% compared to the base RVO algorithm, which have the issue of stuck.
لیست مقالات
لیست مقالات بایگانی شده
U-Net-based Automotive Radar Target Detection and Recognition
Jamal Kazazi - Seyyed Mohammad Matin AleMohammad - Mahmoud Kamarei
حل مسئله مجموعه مستقل d-فاصله با رویکرد CombOpt Zero
فاطمه نیکبخت نصرآبادی - حسین فلسفین - مهران صفایانی
مبدل زمان پیوسته سیگما دلتا با پهنای باند 200k-28M مناسب برای گیرنده های باند پایه3G,4G
فائزه جسور قره باغ - مرتضی موسی زاده
Design and Implementation of an RF Module for UHF PD Measurement
Vahid Javandel - Asghar Akbari - Mohammad Ardebili - Peter Werle
Semi-supervised Deep Reinforcement Learning in Decentralized Multi-Agent Collision Avoidance and Path Planning in a Complex Environment
Marzie Parooei - Mehdi Tale Masouleh - Ahmad Kalhor
A 6-12 GHz Wideband RF PIN Diodes based Limiter with 1-dB Insertion Loss and 30-dB Limitation Rate
Sina Rezaeeahvanouee - Javad Ghalibafan
A Linear Position Sensor Proposal by Development of a Variable Reluctance Linear Resolver
Arman Ramezannezhad - Peyman Naderi - Lieven Vandevelde
The Comparison of MXene and Graphene-Based Antennas for 5G/6G Communications
Javad Shokri Seyyedi - Gholamreza Moradi - Reza Sarraf Shirazi - Sepehr Sahab - Abolfazl Ebrahimpour
Multiphysics Simulation of the Modified Flux Coupling Type SFCL in VSC-HVDC Network
Mohammad Khakroei - Ashkan Mirzaei Rajeooni - Mahdi Rahimi Pirbasti - Hossein Heydari
Synergy of Deep Learning and Artificial Potential Field Methods for Robot Path Planning in the Presence of Static and Dynamic Obstacles
Mohammad Amin Basiri - Shirin Chehelgami - Erfan Ashtari - Mehdi Tale Masouleh - Ahmad Kalhor
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 41.7.4