A Novel Local Motion Planner: Navibug


KARAKAYA S. , OCAK H.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, cilt.100, no.1, ss.987-1003, 2020 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 100
  • Basım Tarihi: 2020
  • Doi Numarası: 10.1007/s10846-020-01239-4
  • Dergi Adı: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • Sayfa Sayıları: ss.987-1003

Özet

In this study, a new local path planning scheme is presented. It is a reactive path planning method, but it can also provide solutions to local minimums using partial or total map information. The proposed method, referred to as Navibug, processes the field scan data at the local level and can perform global planning by processing map information (not mandatory). The algorithm operates by switching between defined main actions: global path planning, path traversing and passage determination strategy. Kinematic and physical maneuvering constraints are majorly neglected in similar methods evaluated in the geometric planner category. However, the collision avoidance routine, defined under the Navibug scheme, raises the maneuverability capability by forcing the instant decisions to be on a curvilinear trajectory. Such an implementation outperforms the feasibility of the conventional geometric-reactive planners. Global map information is not one of the mandatory inputs of the algorithm, but if the map is known, the path tracking strategy operates in coordination with the dynamic path planning mode to improve the total performance of the main scheme.