Reactive Path Planning Approach for Docking Robots in Unknown Environment

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/6716820/figures/6716820.fig.005a.svgz" name="6716820.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Path replanning to avoid collision</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/6716820/figures/6716820.fig.005b.svgz" name="6716820.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Feasible planned path for docking</td></tr></table>

<div>Example of the DAPF path planning strategy in environment with one obstacle. (a) The intermediate configuration is determined as well as <svg height="14.1238pt" id="M424" style="vertical-align:-5.487901pt" version="1.1" viewbox="-0.0498162 -8.6359 37.0193 14.1238" width="37.0193pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z" id="g113-77"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.294,3.132)"><path d="M173 382V461C125 442 68 425 25 418V390C88 382 92 382 92 317V-127C92 -191 84 -199 18 -204V-235H259V-204C180 -196 173 -192 173 -120V7C188 -1 212 -11 243 -12C375 12 495 109 495 261C495 361 427 451 316 451C303 451 283 446 266 435L173 382ZM173 345C200 365 243 388 274 388C346 388 409 329 409 222C409 111 353 40 266 40C231 40 196 56 173 79V345Z" id="g58-110"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.208,3.132)"><path d="M442 39L431 68C420 63 406 57 394 57C377 57 359 71 359 118V301C359 353 349 393 314 424C291 443 261 451 230 451C171 438 107 401 79 381C59 366 46 355 46 340C46 316 72 295 91 295C106 295 117 303 122 319C131 350 139 371 152 384C163 397 178 404 197 404C246 404 281 365 281 293V278C260 262 186 232 124 213C69 194 41 161 41 112C41 47 92 -12 163 -12C195 -12 243 25 283 51C288 35 293 22 308 7C319 -4 339 -12 354 -12L442 39ZM281 87C262 68 226 51 199 51C169 51 129 74 129 126C129 162 151 181 190 198C211 208 259 229 281 240V87Z" id="g58-95"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.267,3.132)"><path d="M327 325C324 350 312 408 304 433C283 442 256 451 213 451C120 451 59 391 59 320C59 243 125 210 188 181C237 158 266 136 266 93C266 52 231 24 195 24C134 24 93 81 74 148L42 143C42 106 51 37 59 23C78 8 125 -12 177 -12C257 -12 345 35 345 127C345 198 292 234 216 264C171 283 131 305 131 348C131 387 156 416 195 416C243 416 277 378 297 317L327 325Z" id="g58-113"></path></g><g transform="matrix(.0091,0,0,-0.0091,20.643,3.132)"><path d="M327 325C324 350 312 408 304 433C283 442 256 451 213 451C120 451 59 391 59 320C59 243 125 210 188 181C237 158 266 136 266 93C266 52 231 24 195 24C134 24 93 81 74 148L42 143C42 106 51 37 59 23C78 8 125 -12 177 -12C257 -12 345 35 345 127C345 198 292 234 216 264C171 283 131 305 131 348C131 387 156 416 195 416C243 416 277 378 297 317L327 325Z" id="g58-113"></path></g><g transform="matrix(.0091,0,0,-0.0091,24.064,3.132)"><path d="M300 253H71L57 198H286L300 253Z" id="g190-46"></path></g><g transform="matrix(.0091,0,0,-0.0091,27.316,3.132)"><path d="M156 406V710C117 695 54 682 9 675V647C73 642 75 635 75 573V25C131 -2 180 -12 223 -12C359 -12 478 92 478 240C478 357 387 451 278 451C265 451 251 447 236 440L156 406ZM156 373C175 384 208 392 235 392C315 392 387 328 387 214C387 97 332 30 251 31C197 31 170 66 162 84C158 93 156 104 156 118V373Z" id="g58-96"></path></g><g transform="matrix(.0091,0,0,-0.0091,31.856,3.132)"><path d="M488 439H302V409C359 401 366 390 354 354C333 287 289 177 262 107L171 356C158 391 163 402 210 409L209 439H3V409C59 401 68 388 90 336C119 267 164 144 204 31C211 16 211 0 206 -15C202 -27 195 -48 176 -81C153 -124 134 -146 102 -166C85 -177 77 -187 77 -203C77 -228 107 -253 136 -253C151 -253 164 -248 169 -228C185 -175 203 -120 273 41C342 204 375 284 399 337C425 392 435 401 488 409V439Z" id="g58-119"></path></g></svg>. (b) The planned path is collision-free and feasible for docking.</div>

Journal of Advanced Transportation

fig5

Figure 5

Figure 5: Reactive Path Planning Approach for Docking Robots in Unknown Environment 