Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles
Source abstract
Abstract
Environment maps must first be generated to drive mobile robots automatically. Path planning is performed based on the information given in an environment map. Various types of sensors, such as ultrasonic and laser sensors, are used by mobile robots to acquire data on its surrounding environment. Among these, the laser sensor, which has the property of being able to go straight and high accuracy, is used most often. However, the beams from laser sensors are refracted and reflected when it meets a transparent obstacle, thus generating noise. Therefore, in this paper, a state-of-the-art algorithm was proposed to detect transparent obstacles by analyzing the pattern of the reflected noise generated when a laser meets a transparent obstacle. The experiment was carried out using the environment map generated by the aforementioned method and gave results demonstrating that the robot could avoid transparent obstacles while it was moving towards the destination.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Path Planning Algorithms · Robotics and Sensor-Based Localization · Modular Robots and Swarm Intelligence
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea
Funding
Ministry of Science and ICT, Republic of Korea · Korea Institute for Advancement of Technology · National Research Foundation of Korea
References (36)
Show source-provided references
1. Tsubouch, T. (1996, January 8). Nowadays trend in map generation for mobile robots. Proceedings of the IEEE International Conference on Intelligent Robot and System, Osaka, Japan.
2. Moravec, H.P., and Elfes, A.E. (1985, January 25–28). High resolution maps from wide angle sonar. Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, MO, USA.
3. Dynamic Map Building for an Autonomous Mobile Robot10.1177/027836499201100402 ↗
4. Stateczny, A., Kazimierski, W., Gronaska-Siedz, D., and Motly, W. (2019). The Empirical Application of Automotive 3D Rader Sensor for Target Detection for an Autonomous Surface Vehicle’s Navigation. Remote Sens., 11.10.3390/rs11101156 ↗
5. Jung, J.-W., So, B.-C., Kang, J.-G., Lim, D.-W., and Son, Y. (2019). Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles. Appl. Sci., 9.10.3390/app9040638 ↗
6. Adaptive mobile robot navigation and mapping10.1177/02783649922066484 ↗
7. Transparent Obstacle Detection Method based on Laser Range Finder
8. Jensgelt, P. (2001). Approaches to Mobile Robot Localization in Indoor Environments. [Ph.D. Thesis, KTH Royal Institute of Technology].
9. Mobile Robot Hybrid Path Planning in an Obstacle-Cluttered Environment Based on Steering Control and Improved Distance Propagation
10. Sohn, H.-J. (2008). Vector-Based Localization and Map Building for Mobile Robots Using Laser Range Finder in an indoor Environments. [Ph.D. Thesis, Korea Advanced Institute of Science and Technology (KAIST)].
11. Jung, Y.-H. (2008). Development of a Navigation Control Algorithm for Mobile Robot Using D* Search Algorithm. [Master’s Thesis, Chungnam University].
12. Park, J.-S., and Jung, J.-W. (2016, January 19–22). A method to LRF noise Filtering for the transparent obstacle in mobile robot indoor navigation environment with straight glass wall. Proceedings of the IEEE International conference on Ubiquitous Robots and Ambient Intelligence, Xi’an, China.10.1109/URAI.2016.7625735 ↗
13. Fast Replanning for Navigation in Unknown Terrain10.1109/TRO.2004.838026 ↗
14. An improvement of D* Algorithm for Mobile Robot Path Planning in Partial Unknown Environments. Intell
15. A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations10.1016/0921-8890(91)90014-C ↗
16. Sensor-Based exploration: The hierarchy generalized voronoi graph10.1177/02783640022066770 ↗
17. A Stochastic Map Building Method for Mobile Robot using 2D Laser Range Finder10.1023/A:1008966218715 ↗
18. Rudanm, J., Tuza, G., and Szederkenyi, G. (2010, January 4–7). Using LMS-100 Laser Range Finder for indoor Metric Map Building. Proceedings of the 2010 IEEE International Symposium on Industrial Electronics, Bari, Italy.10.1109/ISIE.2010.5637842 ↗
19. Local Path Planning of a Mobile Robot Using a Novel Grid-Based Potential Method10.5391/IJFIS.2020.20.1.26 ↗
20. Siciliano, B., and Khatib, O. (2008). Handbook of Robotics, Springer.10.1007/978-3-540-30301-5 ↗
21. Latombe, J. (1991). Robot Motion Planning, Kluwer Academic Publisher.10.1007/978-1-4615-4022-9 ↗
22. Nohara, Y., Hasegawa, T., and Murakami, K. (2010, January 18–22). Floor Sensing System using Laser Range Finder and Mirror for Localizing Daily Life Commodities. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan.10.1109/IROS.2010.5649372 ↗
23. Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G., Burgard, W., Kavaraki, L.E., and Thrum, S. (2005). Principles of Robot Motion: Theory, Algorithm and Implementation, MIT Press.
24. La Valle, S.M. (2006). Planning Algorithms, Cambridge University Press.
25. Stentz, A. (1994, January 8–13). Optimal and Efficient Path Planning for Partially-Known Environments. Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, USA.
26. Siegwart, R., and Nourbakhsh, I.R. (2004). Introduction to Autonomous Mobile Robot, MIT Press.
27. An Efficient Dynamic System for Real-Time Robot—Path Planning10.1109/TSMCB.2005.862724 ↗
28. An Advanced Motion Planning Algorithm for the Multi Transportation Mobile Robot10.5391/IJFIS.2019.19.2.67 ↗
29. Mingxiu, L., Kai, Y., Chengzhi, S., and Yutong, W. (2017, January 28–30). Path Planning of Mobile Robot Based on Improved A* Algorithm. Proceedings of the IEEE 29th Chinese Control and Decision Conference (CCDC), Chongqing, China.
30. Smoothed A* Algorithm for Practical Unmanned Surface Vehicle Path Planning10.1016/j.apor.2018.12.001 ↗
31. Transparent object detection and location based on RGB-D Camera10.1088/1742-6596/1183/1/012011 ↗
32. Cui, C., Graber, S., Watson, J.J., and Wilcox, S.M. (2019). Detection of Transparent Elements Using Specular Reflection. (10,281,916), U.S. Patent.
33. (2020, April 16). Pioneer Corporation. Available online: https://www.pioneerelectronics.com/.
34. (2020, April 16). SICK Sensor Intelligence. Available online: https://www.sick.com/.
35. Incorporation Range Sensing in The Robot
36. Sensor fusion in certainty grids for mobiles robots