Laser & Infrared, Volume. 54, Issue 7, 1028(2024)

Research on indoor robot path planning method based on LiDAR

HAN Hui-yan1,2,3, HAN Fang-zheng1,2,3, HAN Xie1,2,3, KUANG Li-qun1,2,3, and CAO Ya-ming1,2,3
Author Affiliations
  • 1School of Computer Science and Technology, North University of China, Taiyuan 030051, China
  • 2Shanxi Provincial Key Laboratory of Machine Vision and Virtual Reality, Taiyuan 030051, China
  • 3Shanxi Province Visual Information Processing and Intelligent Robot Engineering Research Center, Taiyuan 030051, China
  • show less
    References(21)

    [1] [1] Py F, Robbiani G, Marafioti G, et al. SMURF software architecture for low power mobile robots: experience in search and rescue operations[C]//2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE, 2022: 264-269.

    [2] [2] Sui L, Lin L. Design of household cleaning robot based on low-cost 2D LiDAR SLAM[C]//2020 International Symposium on Autonomous Systems (ISAS). IEEE, 2020: 223-227.

    [3] [3] Farooq M U, Eizad A, Bae H K. Power solutions for autonomous mobile robots: a survey[J]. Robotics and Autonomous Systems, 2023, 159: 104285.

    [4] [4] Ismail H, Roy R, Sheu L J, et al. Exploration-based SLAM (e-SLAM) for the indoor mobile robot using lidar[J]. Sensors, 2022, 22(4): 1689.

    [5] [5] Noto M, Sato H. A method for the shortest path search by extended dijkstra algorithm[C]//2000 IEEE International Conference on Systems, IEEE, 2000.

    [6] [6] Seet B C, Liu G, Lee B S, et al. A-STAR: a mobile ad hoc routing strategy for metropolis vehicular communications[C]//Networking 2004: Networking Technologies, Services, and Protocols; Performance of Computer and Communication Networks; Mobile and Wireless Communications Third International IFIP-TC6 Networking Conference Athens, Greece, May 9-14, 2004.

    [7] [7] Ogren P, Leonard N E. A convergent dynamic window approach to obstacle avoidance[J]. IEEE Transactions on Robotics, 2005, 21(2): 188-195.

    [8] [8] Chang L, Shan L, Jiang C, et al. Reinforcement based mobile robot path planning with improved dynamic window approach in unknown environment[J]. Autonomous Robots, 2021, 45: 51-76.

    [9] [9] Rsmann C, Hoffmann F, Bertram T. Timed-elastic-bands for time-optimal point-to-point nonlinear model predictive control[C]//2015 European Control Conference (ECC). IEEE, 2015: 3352-3357.

    [10] [10] Liu B, Liu C. Path planning of mobile robots based on improved RRT algorithm[J]. Journal of Physics: Conference Series, 2022, 2216(1): 012020.

    [11] [11] Li Z, Li L, Zhang W, et al. Research on unmanned ship path planning based on RRT algorithm[J]. Journal of Physics: Conference Series. IOP Publishing, 2022, 2281(1): 012004.

    [12] [12] Zhang X, Zhu T, Du L, et al. Local path planning of autonomous vehicle based on an improved heuristic BI-RRT algorithm in dynamic obstacle avoidance environment[J]. Sensors, 2022, 22(20): 7968.

    [13] [13] Xu J, Tian Z, He W, et al. A fast path planning algorithm fusing PRM and P-BI-RRT[C]//2020 11th International Conference on Prognostics and System Health Management (PHM-2020 Jinan). IEEE, 2020: 503-508.

    [14] [14] Gan Y, Zhang B, Ke C, et al. Research on robot motion planning based on RRT algorithm with nonholonomic constraints[J]. Neural Processing Letters, 2021, 53: 3011-3029.

    [15] [15] Wang J, Li B, Meng M Q H. Kinematic Constrained bi-directional RRT with efficient branch pruning for robot path planning[J]. Expert Systems with Applications, 2021, 170: 114541.

    [16] [16] Grothe F, Hartmann V N, Orthey A, et al. ST-RRT*: asymptotically-optimal bidirectional motion planning through space-time[C]//2022 International Conference on Robotics and Automation (ICRA). IEEE, 2022: 3314-3320.

    [17] [17] Zhao H. Path Planning of mobile robots based on improved BI-RRT algorithm[C]//2022 IEEE 5th International Conference on Automation, Electronics and Electrical Engineering (AUTEEE). IEEE, 2022: 1043-1050.

    [18] [18] Ma G, Duan Y, Li M, et al. A probability smoothing Bi-RRT path planning algorithm for indoor robot[J]. Future Generation Computer Systems, 2023, 143: 349-360.

    [19] [19] Choi J, Jeong B, Theotokatos G, et al. Approach an autonomous vessel as a single robot with robot operating system in virtual environment[J]. Journal of International Maritime Safety, Environmental Affairs, and Shipping, 2022, 6(1): 50-66.

    [20] [20] Kang J G, Lim D W, Choi Y S, et al. Improved RRT-connect algorithm based on triangular inequality for robot path planning[J]. Sensors, 2021, 21(2): 333.

    [21] [21] Zhang Y, Wang H, Yin M, et al. Bi-AM-RRT*: a fast and efficient sampling-based motion planning algorithm in dynamic environments[J/OL]. arXiv preprint arXiv: 2301.11816, 2023.

    Tools

    Get Citation

    Copy Citation Text

    HAN Hui-yan, HAN Fang-zheng, HAN Xie, KUANG Li-qun, CAO Ya-ming. Research on indoor robot path planning method based on LiDAR[J]. Laser & Infrared, 2024, 54(7): 1028

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Category:

    Received: Sep. 22, 2023

    Accepted: Apr. 30, 2025

    Published Online: Apr. 30, 2025

    The Author Email:

    DOI:10.3969/j.issn.1001-5078.2024.07.004

    Topics