Two-stage hybrid A∗ Path-planning in large petrochemical complexes

A. U. Shamsudin, K. Ohno, R. Hamada, S. Kojima, N. Mizuno, T. Westfechtel, T. Suzuki, S. Tadokoro, J. Fujita, H. Amano

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In this study, we aim to achieve path-planning for firefighter robots in large petrochemical complexes. In large environments, path-planning (e.g., Hybrid A∗) requires a large computation memory and a long execution time. These constrains are not feasible for firefighter robots. In order to overcome these two challenges, we propose a two-stage hybrid A∗ path-planning. For the first stage we use a global pathplanner that makes a path using a low-resolution grid map of 2 m. The global path-planner generates a path for an area of approx. 500 m×1000 m in 10 seconds . In the second stage, we refine the path by using a local-planner that uses a local-map of 100 m×100 m size around the robot with a high resolution grid of 1 m. The local planner receives its sub-goal from the global planner and recalculates a local path at a high speed of a few hundred milliseconds. Therefore, the local-planner can react to changes of the map due to obstacles in real-Time. We evaluated our proposed method by comparing with conventional hybrid A∗ in simulated as well as real experimental data of petrochemical complexes. By employing the local-planner our method could drastically reduce the used memory and execution time for the re-planning. For a trajectory of 600 m, our method reduces the execution time by 99:2% for real data and by 94:34% for simulated data. The memory usage was likewise drastically reduced by 97:45% for real data and by 97:91% for simulated data.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1619-1626
ページ数8
ISBN(電子版)9781509059980
DOI
出版ステータスPublished - 2017 8 21
イベント2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
継続期間: 2017 7 32017 7 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
国/地域Germany
CityMunich
Period17/7/317/7/7

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

フィンガープリント

「Two-stage hybrid A∗ Path-planning in large petrochemical complexes」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル