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A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots

The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To t...

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Detalles Bibliográficos
Autores principales: Song, Tao, Huo, Xiang, Wu, Xinkai
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7729859/
https://www.ncbi.nlm.nih.gov/pubmed/33287309
http://dx.doi.org/10.3390/s20236919
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author Song, Tao
Huo, Xiang
Wu, Xinkai
author_facet Song, Tao
Huo, Xiang
Wu, Xinkai
author_sort Song, Tao
collection PubMed
description The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To tackle this issue, we propose a two-stage optimization model to efficiently obtain an approximate optimal solution. In this model, we first develop a method to determine the key locations for visual complete coverage of a two-dimensional grid map, which is constructed by drawing lessons from the method of corner detection in the image processing. Then, we design a planning problem for searching the shortest path that passes all key locations considering the frequency of target occurrence. The testing results show that the proposed algorithm can achieve the significantly shorter search path length and the shorter target search time than the current Rule-based Algorithm and Genetic Algorithm (GA) in various simulation cases. Furthermore, the results show that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time. We also set up a test in a real environment to verify the feasibility of our algorithm.
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spelling pubmed-77298592020-12-12 A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots Song, Tao Huo, Xiang Wu, Xinkai Sensors (Basel) Article The path planning for target searching in mobile robots is critical for many applications, such as warehouse inspection and caring and surveillance for elderly people in the family scene. To ensure visual complete coverage from the camera equipped in robots is one of the most challenging tasks. To tackle this issue, we propose a two-stage optimization model to efficiently obtain an approximate optimal solution. In this model, we first develop a method to determine the key locations for visual complete coverage of a two-dimensional grid map, which is constructed by drawing lessons from the method of corner detection in the image processing. Then, we design a planning problem for searching the shortest path that passes all key locations considering the frequency of target occurrence. The testing results show that the proposed algorithm can achieve the significantly shorter search path length and the shorter target search time than the current Rule-based Algorithm and Genetic Algorithm (GA) in various simulation cases. Furthermore, the results show that the improved optimization algorithm with the priori known frequency of occurrence of the target can further improve the searching with shorter searching time. We also set up a test in a real environment to verify the feasibility of our algorithm. MDPI 2020-12-03 /pmc/articles/PMC7729859/ /pubmed/33287309 http://dx.doi.org/10.3390/s20236919 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Song, Tao
Huo, Xiang
Wu, Xinkai
A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots
title A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots
title_full A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots
title_fullStr A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots
title_full_unstemmed A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots
title_short A Two-Stage Method for Target Searching in the Path Planning for Mobile Robots
title_sort two-stage method for target searching in the path planning for mobile robots
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7729859/
https://www.ncbi.nlm.nih.gov/pubmed/33287309
http://dx.doi.org/10.3390/s20236919
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