Heuristic approaches in robot path planning: A survey

被引:419
作者
Thi Thoa Mac [1 ,2 ]
Copot, Cosmin [1 ]
Duc Trung Tran [2 ]
De Keyser, Robin [1 ]
机构
[1] Univ Ghent, Dept Elect Energy Syst & Automat, Technol Pk 914, B-9052 Zwijnaarde, Belgium
[2] Hanoi Univ Sci & Technol, Sch Mech Engn, Dai Co Viet St 1, Hanoi, Vietnam
关键词
Autonomous navigation; Robot path planning; Heuristic methods; Neural network; Fuzzy logic; Nature-inspired algorithms; Potential field method; ANT COLONY OPTIMIZATION; PARTICLE SWARM OPTIMIZATION; MOBILE ROBOT; PROBABILISTIC ROADMAP; AUTONOMOUS NAVIGATION; FUZZY-LOGIC; ALGORITHMS; RRT;
D O I
10.1016/j.robot.2016.08.001
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Autonomous navigation of a robot is a promising research domain due to its extensive applications. The navigation consists of four essential requirements known as perception, localization, cognition and path planning, and motion control in which path planning is the most important and interesting part. The proposed path planning techniques are classified into two main categories: classical methods and heuristic methods. The classical methods consist of cell decomposition, potential field method, subgoal network and road map. The approaches are simple; however, they commonly consume expensive computation and may possibly fail when the robot confronts with uncertainty. This survey concentrates on heuristic-based algorithms in robot path planning which are comprised of neural network, fuzzy logic, nature-inspired algorithms and hybrid algorithms. In addition, potential field method is also considered due to the good results. The strengths and drawbacks of each algorithm are discussed and future outline is provided. (C) 2016 Elsevier B.V. All rights reserved.
引用
收藏
页码:13 / 28
页数:16
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