Table of Contents Author Guidelines Submit a Manuscript
Journal of Sensors
Volume 2015 (2015), Article ID 471052, 13 pages
http://dx.doi.org/10.1155/2015/471052
Research Article

Hybrid Motion Planning Method for Autonomous Robots Using Kinect Based Sensor Fusion and Virtual Plane Approach in Dynamic Environments

School of Mechanical and Automotive Engineering, Kunsan National University, Gunsan, Jeollabuk 573-701, Republic of Korea

Received 5 February 2015; Accepted 27 March 2015

Academic Editor: Guangming Song

Copyright © 2015 Doopalam Tuvshinjargal et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza, Introduction to Autonomous Mobile Robots, The MIT Press, London, UK, 2nd edition, 2011.
  2. J. P. van den Berg and M. H. Overmars, “Roadmap-based motion planning in dynamic environments,” IEEE Transactions on Robotics, vol. 21, no. 5, pp. 885–897, 2005. View at Publisher · View at Google Scholar · View at Scopus
  3. D. Hsu, R. Kindel, J.-C. Latombe, and S. Rock, “Randomized kinodynamic motion planning with moving obstacles,” The International Journal of Robotics Research, vol. 21, no. 3, pp. 233–255, 2002. View at Publisher · View at Google Scholar
  4. R. Gayle, A. Sud, M. C. Lin, and D. Manocha, “Reactive deformation roadmaps: motion planning of multiple robots in dynamic environments,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07), pp. 3777–3783, San Diego, Calif, USA, November 2007. View at Publisher · View at Google Scholar · View at Scopus
  5. S. S. Ge and Y. J. Cui, “Dynamic motion planning for mobile robots using potential field method,” Autonomous Robots, vol. 13, no. 3, pp. 207–222, 2002. View at Publisher · View at Google Scholar · View at Scopus
  6. K. P. Valavanis, T. Hebert, R. Kolluru, and N. Tsourveloudis, “Mobile robot navigation in 2-D dynamic environments using an electrostatic potential field,” IEEE Transactions on Systems, Man and Cybernetics Part A: Systems and Humans, vol. 30, no. 2, pp. 187–196, 2000. View at Publisher · View at Google Scholar · View at Scopus
  7. X. Gao, Y. Ou, Y. Fu et al., “A novel local path planning method considering both robot posture and path smoothness,” in Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO '13), pp. 172–178, Shenzhen, China, December 2013. View at Publisher · View at Google Scholar · View at Scopus
  8. J. Jiao, Z. Cao, P. Zhao, X. Liu, and M. Tan, “Bezier curve based path planning for a mobile manipulator in unknown environments,” in Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO '13), pp. 1864–1868, Shenzhen, China, December 2013. View at Publisher · View at Google Scholar · View at Scopus
  9. A. Stentz, “Optimal and efficient path planning for partially-known environments,” in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 3310–3317, May 1994. View at Scopus
  10. G. Song, H. Wang, J. Zhang, and T. Meng, “Automatic docking system for recharging home surveillance robots,” IEEE Transactions on Consumer Electronics, vol. 57, no. 2, pp. 428–435, 2011. View at Publisher · View at Google Scholar · View at Scopus
  11. M. Seder and I. Petrović, “Dynamic window based approach to mobile robot motion control in the presence of moving obstacles,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pp. 1986–1991, Roma, Italy, April 2007. View at Publisher · View at Google Scholar · View at Scopus
  12. D. Fox, W. Burgard, and S. Thrun, “The dynamic window approach to collision avoidance,” IEEE Robotics and Automation Magazine, vol. 4, no. 1, pp. 23–33, 1997. View at Publisher · View at Google Scholar · View at Scopus
  13. J. Borenstein and Y. Koren, “Real-time obstacle avoidance for fast mobile robots,” IEEE Transactions on Systems, Man and Cybernetics, vol. 19, no. 5, pp. 1179–1187, 1989. View at Publisher · View at Google Scholar · View at Scopus
  14. J. Borenstein and Y. Koren, “The vector field histogram—fast obstacle avoidance for mobile robots,” IEEE Transactions on Robotics and Automation, vol. 7, no. 3, pp. 278–288, 1991. View at Publisher · View at Google Scholar · View at Scopus
  15. R. Simmons, “The curvature-velocity method for local obstacle avoidance,” in Proceedings of the 13th IEEE International Conference on Robotics and Automation, vol. 4, pp. 3375–3382, Minneapolis, Minn, USA, April 1996. View at Scopus
  16. J. Minguez and L. Montano, “Nearness Diagram (ND) navigation: collision avoidance in troublesome scenarios,” IEEE Transactions on Robotics and Automation, vol. 20, no. 1, pp. 45–59, 2004. View at Publisher · View at Google Scholar · View at Scopus
  17. E. Owen and L. Montano, “Motion planning in dynamic environments using the velocity space,” in Proceedings of the IEEE IRS/RSJ International Conference on Intelligent Robots and Systems (IROS '05), pp. 997–1002, August 2005. View at Publisher · View at Google Scholar · View at Scopus
  18. A. Chakravarthy and D. Ghose, “Obstacle avoidance in a dynamic environment: a collision cone approach,” IEEE Transactions on Systems, Man, and Cybernetics Part A: Systems and Humans, vol. 28, no. 5, pp. 562–574, 1998. View at Publisher · View at Google Scholar · View at Scopus
  19. F. Belkhouche, T. Jin, and C. H. Sung, “Plane collision course detection between moving objects by transformation of coordinates,” in Proceedings of the 17th IEEE International Conference on Control Applications Part of IEEE Multi-Conference on Systems and Control, San Antonio, Tex, USA, 2008.
  20. P. Fiorini and Z. Shiller, “Motion planning in dynamic environments using velocity obstacles,” International Journal of Robotics Research, vol. 17, no. 7, pp. 760–772, 1998. View at Publisher · View at Google Scholar · View at Scopus
  21. P. Fiorini and Z. Shiller, “Motion planning in dynamic environments using velocity obstacles,” The International Journal of Robotics Research, vol. 17, no. 7, pp. 760–772, 1998. View at Publisher · View at Google Scholar · View at Scopus
  22. Z. Shiller, F. Large, and S. Sekhavat, “Motion planning in dynamic environments: obstacles moving along arbitrary trajectories,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '01), pp. 3716–3721, Seoul, Republic of Korea, May 2001. View at Publisher · View at Google Scholar · View at Scopus
  23. F. Belkhouche, “Reactive path planning in a dynamic environment,” IEEE Transactions on Robotics, vol. 25, no. 4, pp. 902–911, 2009. View at Publisher · View at Google Scholar · View at Scopus
  24. B. Dorj, D. Tuvshinjargal, K. T. Chong, D. P. Hong, and D. J. Lee, “Multi-sensor fusion based effective obstacle avoidance and path-following technology,” Advanced Science Letters, vol. 20, pp. 1751–1756, 2014. View at Google Scholar
  25. R. Philippsen, B. Jensen, and R. Siegwart, “Towards real-time sensor based path planning in highly dynamic environments,” in Autonomous Navigation in Dynamic Environments, vol. 35 of Tracts in Advanced Robotics, pp. 135–148, Springer, Berlin, Germany, 2007. View at Google Scholar
  26. K.-T. Song and C. C. Chang, “Reactive navigation in dynamic environment using a multisensor predictor,” IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 29, no. 6, pp. 870–880, 1999. View at Publisher · View at Google Scholar · View at Scopus
  27. K. Khoshelham and S. O. Elberink, “Accuracy and resolution of kinect depth data for indoor mapping applications,” Sensors, vol. 12, no. 2, pp. 1437–1454, 2012. View at Publisher · View at Google Scholar · View at Scopus
  28. J. Han, L. Shao, D. Xu, and J. Shotton, “Enhanced computer vision with Microsoft Kinect sensor: a review,” IEEE Transactions on Cybernetics, vol. 43, no. 5, pp. 1318–1334, 2013. View at Publisher · View at Google Scholar · View at Scopus
  29. F. Kammergruber, A. Ebner, and W. A. Gunthner, “Navigation in virtual reality using microsoft kinect,” in Proceedings of the 12th International Conference on Construction Application of Virtual Reality, Taipei, Taiwan, November 2012.
  30. Microsoft Kinect for X-BXO 360, http://www.xbox.com/en-US/xbox-one/accessories/kinect-for-xbox-one.
  31. K. Kronolige and P. Mihelich, “Technical Description of Kinect Calibration,” July 2014, http://www.ros.org/wiki/kinect_calibration/technical.
  32. G. Shashank, M. Sharma, and A. Shukla, “Robot navigation using image processing and isolated word recognition,” International Journal of Computer Science and Engineering, vol. 4, no. 5, pp. 769–778, 2012. View at Google Scholar
  33. T. W. Choe, H. S. Son, J. H. Song, and J. H. Park, Intelligent Robot System HBE-RoboCar, HanBack Electronics, Seoul, Republic of Korea, 2012.
  34. K. R. Jadavm, M. A. Lokhandwala, and A. P. Gharge, “Vision based moving object detection and tracking,” in Proceedings of the National Conference on Recent Trends in Engineering and Technology, Anand, India, 2011.
  35. A. Chandak, K. Gosavi, S. Giri, S. Agrawal, and P. Kulkarni, “Path planning for mobile robot navigation using image processing,” International Journal of Scientific & Engineering Research, vol. 4, pp. 1490–1495, 2013. View at Google Scholar