A new hybrid motion planner

Ana C. Lopes, João Rodrigues, Jorge Perdigão, Gabriel Pires, Urbano J. Nunes

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

This article presents a new hybrid motion (HM) planner, designed to allow robust indoor navigation in constrained environments of nonholonomic differential robots, such as RobChair, the brain-actuated robotic wheelchair [1] from the Institute of Systems and Robotics, University of Coimbra, Portugal. Relying on this new planning algorithm, RobChair is now able to operate in real dynamic environments and perform challenging maneuvers in narrow spaces. The HM planner integrates deliberative and reactive modules in a three-layer structure: a fast threedimensional (3-D)-global path planner, smoothing, and a new reactive local planner designated the doubledynamic window approach (D-DWA). The 3-D-global path planner consists in the A) algorithm, which defines a path composed by a sequence of (x, y) points, with an interpolation module that has the purpose of assigning an orientation to each (x, y) point. The smoothing algorithm adjusts the (x, y) points to reduce accelerations and jerk associated with the trajectory. The D-DWA is in charge of dynamically adapting the robot motion, taking into account the robot geometry (noncircular robot) and local static/dynamic obstacles, unknown from the global planner perspective. Real-time navigation is achieved because both the smoothing and the D-DWA algorithms are iteratively executed during navigation. The use of multiresolution local grid maps also contributes to the increase of computation performance. To show the effectiveness of the proposed planning algorithm, results of real navigation experiments are reported in this article. The experiments consist in steering RobChair in a real office-like scenario by different participants, using a selfpaced P300-based brain-computer interface (BCI).

Original languageEnglish (US)
Article number7744604
Pages (from-to)82-93
Number of pages12
JournalIEEE Robotics and Automation Magazine
Volume23
Issue number4
DOIs
StatePublished - Dec 1 2016

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Navigation
Robots
Robotics
Planning
Brain computer interface
Wheelchairs
Brain
Interpolation
Experiments
Trajectories
Geometry

Cite this

Lopes, A. C., Rodrigues, J., Perdigão, J., Pires, G., & Nunes, U. J. (2016). A new hybrid motion planner. IEEE Robotics and Automation Magazine, 23(4), 82-93. [7744604]. https://doi.org/10.1109/MRA.2016.2605403

A new hybrid motion planner. / Lopes, Ana C.; Rodrigues, João; Perdigão, Jorge; Pires, Gabriel; Nunes, Urbano J.

In: IEEE Robotics and Automation Magazine, Vol. 23, No. 4, 7744604, 01.12.2016, p. 82-93.

Research output: Contribution to journalArticle

Lopes, AC, Rodrigues, J, Perdigão, J, Pires, G & Nunes, UJ 2016, 'A new hybrid motion planner', IEEE Robotics and Automation Magazine, vol. 23, no. 4, 7744604, pp. 82-93. https://doi.org/10.1109/MRA.2016.2605403
Lopes AC, Rodrigues J, Perdigão J, Pires G, Nunes UJ. A new hybrid motion planner. IEEE Robotics and Automation Magazine. 2016 Dec 1;23(4):82-93. 7744604. https://doi.org/10.1109/MRA.2016.2605403
Lopes, Ana C. ; Rodrigues, João ; Perdigão, Jorge ; Pires, Gabriel ; Nunes, Urbano J. / A new hybrid motion planner. In: IEEE Robotics and Automation Magazine. 2016 ; Vol. 23, No. 4. pp. 82-93.
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