Realization of an improved path planning strategy

Muhammad Majid Gulzar; Qiang Ling; Muhammad Yaqoob; Sajid Iqbal

doi:10.1109/ICCAIS.2015.7338698

Realization of an improved path planning strategy

Muhammad Majid Gulzar
, Qiang Ling
, Muhammad Yaqoob
, Sajid Iqbal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

17 Scopus citations

Abstract

This paper presents an improved path planning algorithm to avoid obstacles of critical shapes (obstacles having angles of around 90°). The proposed algorithm outperforms the reported bug algorithms by reaching the target safely in relatively less time and avoiding multiple obstacles without suffering into local minima. The main reason of such improvement is to schedule the speed and direction of the agent according to the edges of obstacles. More specifically, the agent's speed is set as a function of goal and the obstacle location. The direction to follow obstacle edges is not predefined, but generated online by taking the dot product between obstacle edges and the target behavior. In this way the optimal path can be achieved to reach the final target with safe, smooth and short trajectory. Simulation results and practical implementation validated the effectiveness of our proposed algorithm. Moreover, performance comparison of the proposed algorithm and other approaches confirms the efficiency of the presented approach.

Original language	English
Title of host publication	ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	384-389
Number of pages	6
ISBN (Electronic)	9781479998920
DOIs	https://doi.org/10.1109/ICCAIS.2015.7338698
State	Published - 25 Nov 2015
Externally published	Yes
Event	4th International Conference on Control, Automation and Information Sciences, ICCAIS 2015 - Changshu, China Duration: 29 Oct 2015 → 31 Oct 2015

Publication series

Name	ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences

Conference

Conference	4th International Conference on Control, Automation and Information Sciences, ICCAIS 2015
Country/Territory	China
City	Changshu
Period	29/10/15 → 31/10/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Collision Avoidance
Follow Obstacle
Navigation
Optimal Trajectory
Path Planning
Performance Comparison

ASJC Scopus subject areas

Computer Science Applications
Information Systems
Control and Systems Engineering

Access to Document

10.1109/ICCAIS.2015.7338698

Cite this

Gulzar, M. M., Ling, Q., Yaqoob, M., & Iqbal, S. (2015). Realization of an improved path planning strategy. In ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences (pp. 384-389). Article 7338698 (ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAIS.2015.7338698

Gulzar, Muhammad Majid ; Ling, Qiang ; Yaqoob, Muhammad et al. / Realization of an improved path planning strategy. ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 384-389 (ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences).

@inproceedings{668f226dfca544ceae950d806ff83783,

title = "Realization of an improved path planning strategy",

abstract = "This paper presents an improved path planning algorithm to avoid obstacles of critical shapes (obstacles having angles of around 90°). The proposed algorithm outperforms the reported bug algorithms by reaching the target safely in relatively less time and avoiding multiple obstacles without suffering into local minima. The main reason of such improvement is to schedule the speed and direction of the agent according to the edges of obstacles. More specifically, the agent's speed is set as a function of goal and the obstacle location. The direction to follow obstacle edges is not predefined, but generated online by taking the dot product between obstacle edges and the target behavior. In this way the optimal path can be achieved to reach the final target with safe, smooth and short trajectory. Simulation results and practical implementation validated the effectiveness of our proposed algorithm. Moreover, performance comparison of the proposed algorithm and other approaches confirms the efficiency of the presented approach.",

keywords = "Collision Avoidance, Follow Obstacle, Navigation, Optimal Trajectory, Path Planning, Performance Comparison",

author = "Gulzar, \{Muhammad Majid\} and Qiang Ling and Muhammad Yaqoob and Sajid Iqbal",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 4th International Conference on Control, Automation and Information Sciences, ICCAIS 2015 ; Conference date: 29-10-2015 Through 31-10-2015",

year = "2015",

month = nov,

day = "25",

doi = "10.1109/ICCAIS.2015.7338698",

language = "English",

series = "ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "384--389",

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}

Gulzar, MM, Ling, Q, Yaqoob, M & Iqbal, S 2015, Realization of an improved path planning strategy. in ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences., 7338698, ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences, Institute of Electrical and Electronics Engineers Inc., pp. 384-389, 4th International Conference on Control, Automation and Information Sciences, ICCAIS 2015, Changshu, China, 29/10/15. https://doi.org/10.1109/ICCAIS.2015.7338698

Realization of an improved path planning strategy. / Gulzar, Muhammad Majid; Ling, Qiang; Yaqoob, Muhammad et al.
ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences. Institute of Electrical and Electronics Engineers Inc., 2015. p. 384-389 7338698 (ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Realization of an improved path planning strategy

AU - Gulzar, Muhammad Majid

AU - Ling, Qiang

AU - Yaqoob, Muhammad

AU - Iqbal, Sajid

PY - 2015/11/25

Y1 - 2015/11/25

N2 - This paper presents an improved path planning algorithm to avoid obstacles of critical shapes (obstacles having angles of around 90°). The proposed algorithm outperforms the reported bug algorithms by reaching the target safely in relatively less time and avoiding multiple obstacles without suffering into local minima. The main reason of such improvement is to schedule the speed and direction of the agent according to the edges of obstacles. More specifically, the agent's speed is set as a function of goal and the obstacle location. The direction to follow obstacle edges is not predefined, but generated online by taking the dot product between obstacle edges and the target behavior. In this way the optimal path can be achieved to reach the final target with safe, smooth and short trajectory. Simulation results and practical implementation validated the effectiveness of our proposed algorithm. Moreover, performance comparison of the proposed algorithm and other approaches confirms the efficiency of the presented approach.

AB - This paper presents an improved path planning algorithm to avoid obstacles of critical shapes (obstacles having angles of around 90°). The proposed algorithm outperforms the reported bug algorithms by reaching the target safely in relatively less time and avoiding multiple obstacles without suffering into local minima. The main reason of such improvement is to schedule the speed and direction of the agent according to the edges of obstacles. More specifically, the agent's speed is set as a function of goal and the obstacle location. The direction to follow obstacle edges is not predefined, but generated online by taking the dot product between obstacle edges and the target behavior. In this way the optimal path can be achieved to reach the final target with safe, smooth and short trajectory. Simulation results and practical implementation validated the effectiveness of our proposed algorithm. Moreover, performance comparison of the proposed algorithm and other approaches confirms the efficiency of the presented approach.

KW - Collision Avoidance

KW - Follow Obstacle

KW - Navigation

KW - Optimal Trajectory

KW - Path Planning

KW - Performance Comparison

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DO - 10.1109/ICCAIS.2015.7338698

M3 - Conference contribution

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T3 - ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences

SP - 384

EP - 389

BT - ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 4th International Conference on Control, Automation and Information Sciences, ICCAIS 2015

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ER -

Gulzar MM, Ling Q, Yaqoob M, Iqbal S. Realization of an improved path planning strategy. In ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences. Institute of Electrical and Electronics Engineers Inc. 2015. p. 384-389. 7338698. (ICCAIS 2015 - 4th International Conference on Control, Automation and Information Sciences). doi: 10.1109/ICCAIS.2015.7338698

Realization of an improved path planning strategy

Abstract

Publication series

Conference

Bibliographical note

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this