کنفرانس مهندسی برق ایران

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 zade¹ Samaneh Hosseini Semnani²

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.