Path and Trajectory Planning

Path and Trajectory Plan
ning
for
ROBOTS
ANHUI UNIVERSITY OF FINANCE & ECONOMICS
1/31
PRESENTATION BY
Deepak Kumar
: 2K13/CSE/26
Sandeep Jain
: 2K13/CSE/29
Nidhi Joshi
: 2K13/CSE/27
Archana Saxena : 2K13/CSE/3
Nitin Saini
: 2K13/CSE/28
Sunil Bisaiya
: 2K13/CSE/30
2/31
INTRODUCTION
Path and Trajectory planning means the way that a robot is mov
ed from one location to another in a controlled manner.
Trajectories can be planned either in joint space (directly specif
ying the time evolution of the joint angles) or in Cartesian Space
(specifying the position and orientation of the end frame).
Issues in trajectory planning include attaining a specic target f
rom an initial starting point, avoiding obstacles, and staying wit
hin manipulator capabilities.
3/31
RESEARCH
TOPICS
COVERED
1. Optimal and Efficient Trajectory Planning in Industrial Robots

2. Path and Trajectory Planning for Nanorobots
3. Environment based Path and Trajectory Planning
4. Path Planning using Artificial Intelligence.
5. Path and Trajectory Planning in Air-Crafts
6. Path and Trajectory Planning for Underwater Robots
4/31
Optimal and Efficient Planning in Industri

al Robots
By :
Deepak Kumar
Roll No : 2K13/CSE/26
5/31
Introduction to Industrial Robots

Industrial Robots are widely used in many fields of industry, such as
automotive an Aircraft industries. They are accustomed to be used to carry
out repeat tasks : pick an place, welding, assemblingetc. Nowadays, due to
their flexibility and ability to perform complex tasks in a significant
workspace, robots are finding their way into SMEs to realize more than these
classical
tasks.
Industrial Robots are reshaping the manufacturing industry. They are often
used to perform duties that are dangerous or unsuitable for human workers.
Ideal for situations that require high output and no errors, the Industrial
robot is becoming a common fixture in factories. They are grouped according
to number of axes, structure type, size of work envelope, payload capability,
and
speed.
6/31
Objective
Industrial robots must have high flexibility to execute different
technological operations and work together with human workers.
To move between two space points, different tasks must be solved. The
best trajectory must be found, obstacles and collisions must be avoided,
other limitations must be considered, and the high efficiency and work
productivity
must
be
achieved.
7/31
Research References
1. Guan Xiaoqing and Wang Jidong Trajectory planning theory and method of
Industrial Robot IEEE 3rd International Conference on Computer Research and
Development (ICCRD), 2011 at Shanghai .
2. Panwadee Tangpattanakul and Pramin Artrit Minimum Time Trajectory of
Robot Manipulator using Harmony Search Algorithm, IEEE 6th International
Conference
on
Electrical
Engineering/
Electronics,
Computer,
Telecommunications and Information Technology (ECTI-CON) 2009 at Pattaya,
Chonburi.
3. Guangliang Liu, Yali Wang, Jianbin Zhi, Shiguo Ma and Tie Chen Optimized
Trajectory planning algorithm for Industrial Robot, IEEE 9th International
Conference on Fuzzy Systems and Knowledge Discovery (FSKD), 2012 at
Sichuan.
4. Olabi, A. Bearee and R. Nyiri, Enhanced Trajectory planning for Machining
with Industrial Six-Axis Robots, IEEE International Conference on Industrial
Technology (ICIT), 2010 at Vi a del Mar.
5. R. Saravanan, S.Ramabalan and J. Fakrudeen Ali Ahamed Evolutionary
Minimum Cost Trajectory planning for Industrial Robots Journal of Mechanical
Sciences, Vol. 1, No. 1, pp 24-36.
8/31
Trajectory planning theory and method of

Industrial Robot [1]
This paper focus on the basic theory of Trajectory planning and control for
industrial robots which means that the joint trajectories of a industrial robot
should take the minimum traveling time of the motion of the robots hand
between two point.
Generally, each trajectory of joint coordinates is fitted together by the

principle of MSES which means minimum square error sum. It includes a lot of
matrix operations and differential operations and therefore is not the best
method.
In order to reduce the computational burden, the motion control of robots is

performed at the joint level. In motion control, it is necessary to make each
joint move along the corresponding trajectory and all joints can move along
the irrespective trajectories, that is the hand of the robot moves
approximately along the specified path.
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Initialization
Interfaceinitialization
No
linkage
success?
linkageagain
Yes
Extractjobfileinformation
Trajectoryplanningalgorithm
Performindustrialrobot
ProcessofTrajectoryplanningofindustrialrobot
In order to observe the tracking accuracy of the path by means of trajectory

planning method of industrial robot, simulation for the trajectory planning of
industrial robot by the proposed method is employed. The testing results show
that the trajectory planning method of industrial robot is feasible in the
optimization of the trajectory planning and control for industrial robots.
10/31
Minimum Time Trajectory of Robot Manipulator

using Harmony Search Algorithm [2]
In this paper, an algorithm namely minimum time trajectory planning is

defined which uses Harmony Search (HS) method clamped with cubic splines.
The objective function is minimum interval traveling time of robot

manipulator with the kinematics constraints (velocity, acceleration and jerk).
Harmony Search (HS) method is used as optimization technique. This

algorithm successfully obtains the better solution than Sequential Quadratic
programming (SQp) while the consumed process time is nearby.
Moreover HS does not need to use the initial values in the optimization
solving process like SQp. The study case indicates that HS algorithm is
efficient for solving the optimal trajectory and the obtained trajectory keep
under the kinematics limitations.
The simulation compares two techniques, the sqp and HS. Sqp techniques
result for minimum time trajectory is 8.572sec. The HS simulation results give
the minimum time trajectory 8.5718sec for 10,000 iterations an 8.5577sec for
2,00,000 iterations. Although the HS process uses the more number of
iterations, the whole sqp process takes computation time nearby the 10,000
iterations of HS process. Therefore, the HS method gives a better time of
trajectory than sqp method where the kinematics constraint is satisfied.
11/31
Optimized Trajectory planning algorithm for

Industrial Robot [3]
It is an effective trajectory planning algorithm for industrial robot in which

both running velocity and time are normalized.
It can be conveniently incorporated into the existing industrial manipulator

without undertaking significant cost of risk.
The basis to find this algorithm is to obtain the expected trajectory by taking
into consideration not only the constraints of the controller, but also the
specification of the task.
In order to obtain the optimal cubic spline joint trajectories, firstly the
planning is formalized as a global constrained mini-max optimization problem.
Then an algorithm based on interval analysis is exposed which converges
within an arbitrary precision to a global solution.
The algorithm is tested on the simulated robot with one smooth trajectory in
the Cartesian space of the robot, which has given the reasonable output of
each joint of the robot.
12/31
Enhanced Trajectory planning for Machining with

Industrial Six-Axis Robots [4]
This paper focus on the trajectory planning stage, which can roughly be split in
two parts : path planning and feed rate profiling.
Path planning is firstly done by means of L1 spline interpolator. This interpolator

generates smooth c2- continuous, shape preserving paths. Then a smooth feed
rate profile, taking account of the joint kinematics constraints, is generated by
means of a parametric speed interpolator. The parametric interpolator takes
advantage of the properties of finite-impulse response (FIR) to give a smooth
pattern to the feed rate profile (jerk limited, jerk minimum or others).
These two different trajectories along the selected path have been tested on a
six-axis industrial robot. It was observed that the feed rate planning strategy is
an effective solution for controlling the tool-tip motion of a robot.
13/31
Evolutionary Minimum Cost Trajectory planning

for Industrial Robots [5]
This paper focus on a method for computing minimum cost trajectory planning
for Industrial robots manipulators. The objective function minimizes the cost
function with the constraints being joint positions, velocities, jerks and torques
by considering dynamic equations of motion. A clamped cubic spline is used to
represent the trajectory. This is a non-linear constrained optimization problem.
This problem of optical dynamic free motion of robotic arms is solved by

evolutionary techniques such as Elitist Non-dominated Sorting Genetic Algorithm
(NSGA-II) and Differential Evolution (DE) methods.
The same approach can be easily extended to handle complex situations.
The proposed NSGA-II and DE converge quickly and show their superior nature
by giving better results than the conventional optimization method SQP.
14/31
Conclusion
The optimal trajectory planning is an important function in a robot control area.
Generally, the operating function of manipulators requires the highest
performance such as minimum time, minimum energy, and no damage to the
system
.
Each of these working parameters has an impact on the work of the robot. Most
of the algorithms that address the problem of collision-free trajectory planning
for industrial robots try to optimize some of the working parameters or some of
the objective functions. The optimization criteria most widely used can be
classified
as
follows:
minimum execution time (related to productivity);
minimum jerk (related to the quality of work, accuracy and equipment
maintenance);
minimum energy consumed (or minimum actuator effort) (related to savings);
and
hybrid
criteria,
e.g.
minimum
time
and
energy.
The selected algorithm should take into account the presence of obstacles (to
avoid collisions) and the dynamics of the robotic system and the method to solve
an optimization problem to find the minimum time trajectory to perform the
tasks
the
robot
should
do.
15/31
PATH AND TRAJECTORY PLANNING IN N

ANO ROBOTOS
By :
Sandeep Jain
16/31
Introduction to Nano-Robots
A nanorobot is a tiny machine designed to perform a specific tasks with
precision at nanoscale dimensions (1 nm = 10 to power of -9 meter).
Nanotechnology based nanorobots has framed science with engineering
activities at the cellular level. Nano-sized nanorobots can investigate any
biological environment (cell culture or human body) at the microscopic level.
Recently, nanorobots has been
tried to function as a next
generation pills which is a nanoshaped
capsule,
carrying
the
required therapeutic material for
the targeted region. These capsules
are considered to have their own
decision making ability for avoiding
obstacles such as immune system
attack and reaching the particular
region based on path planning
algorithm. The human body is a
complex system with 3D structure,
thus modelling of such system at
cellular level also requires 3D
mapping of each cell.
17/31
Objective
Since the Human Body is a highly liquid environment that too consist variety of
liquid like blood, chemical, acid etc. The objective is to design a path and
trajectory for a nanorobot that should be having collision free navigation in a
liquid environment inside the human body. It is important that the nanorobot
should have a smooth path and trajectory movement while navigating in the
blood environment.
It is important to note that since the human body is highly sensitive to the
foreign particles and their movements in the body as it may cause high
reaction in the body so it is important, while planning control motion of
nanorobots, that these should be safe for human and not cause any damage to
the other cells.
18/31
Research References
1. Cavalcanti A., Hardware Architecture for Nanorobot Application in Cerebral
Aneurysm, 7th IEEE International Conference on Nanotechnology August 2 5, 2007, Hong Kong.
2. Sanchita Paul Nano Robots : A Survey on Recent Development in Medical
Applications, International Journal of Advanced Research in Computer
Science and Software Engineering, 2012.
3. Khin Haymar Saw Hla Obstacle Avoidance Algorithm for Collective Movement
in Nanorobots, IJCSNS International Journal of Computer Science and
Network Security 2008.
4. John Reif Nano-Robotics Motion Planning and Its Applications in
Nanotechnology and Biomolecular Computing, 3rd Workshop of the
Algorithmic Foundations of Robotics, Houston, Texas.
5. Khin Haymar Saw Hla Mobility Enhancement in Nanorobots by using Particle
Swarm Optimization. IEEE International Conference on Computational
Intelligence and Security 2008.
19/31
Hardware Architecture for Nanorobot

Application [1]
The Architecture
The architecture of the nanorobot plays a very important role in the Trajectory & Path
Planning of the nanorobots.
In the designing of the architecture
a) the integrated system,
b) smart biosensors and
c) programmable nano devices
are important parts. Recently, use of RFID (radio frequency identification) are
explored for data collection and transmission inside the body. The nanorobots are
designed in such a fashion so as to prevent it from the immune attacks.
Now Chemical Assembled Electronic Nanotechnology has been adopted as an
alternative to the metal oxide semiconductors (CMOS). Emphasis is given to ASIC
(application specific integrated circuit) based nanorobots. The nanorobot
architecture depends upon the environment in which it is to be used. For biomedical
application, temperature, concentration of chemicals in blood, electromagnetic
signatures, acoustic signals, velocity of nanorobot and fluid are some of the
parameters which are required to be considered for the nanorobot architecture.
20/31
NanoRobots : A Survey on Recent Development

in Medical Applications [2]
Path and Trajectory Planning

The nanorobot navigation in a liquid environment is the main consideration during
the Path and Trajectory Planning inside the body. It is important that the device is
having a smooth trajectory path while navigating in the blood environment and at
the same time does not cause any damage to the other cells.
Sitti M. in April 2009, Miniature Devices: Voyage of the nanorobots proposed a
swimming microrobots which are propelled by artificial flagella to destroy the
blood clot that threatens the patients life. These tiny shaped microrobots access
small space inside human body that can currently be reached only by using
invasive methods. Gayle proposes an algorithm for short distance path travel
based on 2.5 D overlap.
Now a days self trajectory plan for path detection by the nanorobots are being
practised.
21/31
Nano Robots : A Survey on Recent Development

in Medical Applications [2]
Control Movement in Nanorobots

Cavalcanti A. provided some new features in the nanorobots which are effectively
used as nanomedicine. The pill shaped nanorobots are employed with a self
trajectory plan where theses nanorobots are made decision makers inside the
human body. Three behavioural control techniques have been considered to
control the nanorobots motions.
First approach used nanorobots small Brownian motions to find the target by
random search.
In second approach, nanorobot monitors for chemical concentration intensity for
E-cadherin signals. After detecting the signal, the nanorobot estimates the
concentration gradient and moves toward higher concentrations until it reaches
the target.
In third approach, nanorobots at the target release another chemical, which is
used as an additional guiding signal to find the target.
22/31
NanoRobots : Obstacle Avoidance Algorithm for

Collective Movement in Nanorobots [3]
One of the major aspects in the movement control of a nanorobot is obstacles

avoidance. Every nanorobot placed inside the human body will encounter immune
system as obstacles during flowing within a human body. Thus nanorobot must
use strategy for avoiding and escaping from such immune system. The nanorobot
equips with sensors to detect obstacles and identifies when it has encountered. To
avoid obstacles during trajectory, self organized trajectory planning is required.
Even though obstacles can be all shapes and sizes, CIRCLE representation is
considered here for the simplicity.
The structure of obstacles can be defined as follows.
Obstacle =< Pcenter ,Pradium, Pvelocity > (Pcenter, Pradium and Pvelocity are the
center point, the radius and the velocity of the moving obstacle).
Polar coordinate system, which is the two dimensional coordinate system in which
points on a plane is determined by an angle and a distance, is used to find out the
trajectory for obstacle avoidance. It can be used effectively for computing the
desirable direction angle for movement trajectory of nanorobot. Each obstacle can
be represented in polar coordination in the equation. The nanorobot will detect
dynamic obstacles at real-time and get obstacles information and then determine
the movement trajectory.
23/31
NanoRobots : Obstacle Avoidance Algorithm for

Collective Movement in Nanorobots [3]
Algorithm Obstacle Avoidance

Begin
1. Calculate d, distance between nanorobot si and obstacle
2. Calculate time to collision tc based on d
3. Start to generate ij, based on tc
4. Calculate Cartesian coordinates xij,yij from polar coordinates
where
xij is r*Cos(ij);
yij is r* Sin(ij);
r is the radius of the obstacle (0< ij<180)
5. Move nanorobot si from xi1,yi1 to xij,yij
6. Calculate coverage of range si to its neighbors N(si)
7. If coverage value>current optimum
8. Current optimum target=current selected target
9. Move nanorobot si to new best position
10.End if
End
24/31
NanoRobotics Motion Planning and Its Applications

in Nanotechnology and Bio molecular Computing [4]
Major
Problem being faced during Trajectory & Path Planning
Frictional Mover's Problem

We define the frictional mover's problem to be the problem of determining
whether the objects in a frictional mechanical system can be moved legally from a
specified initial configuration to a specified final configuration. The frictional
mover's problem is undecidable by reducing the acceptance problem for Turing
Machine (TM). This frictional mechanical system will have the property that the
objects in this system can be moved from an initial configuration, which encodes
an input string of M, to a configuration corresponding to the accepting state of M if
and only if M accepts . Therefore, as the acceptance problem for Turing Machine is
undecidable, so is the frictional mover's problem. This implies that there is no
realistic machine that can solve this problem, it can be reduced only.
Curvature-constrained Shortest-path Planning
The curvature-constrained shortest-path problem is to plan a path (from an initial
position to a final position, where a position is defined by a location and the
orientation angle) in the presence of obstacles, such that the path is the shortest
among all paths with a prescribed curvature bound.
25/31
NanoRobotics Motion Planning and Its Applications

in Nanotechnology and Bio molecular Computing [4]
Fortune and Wilfong gave the first algorithm which computes the exact shortest
paths avoiding obstacles. However, their algorithm required super-exponential
time.
Agarwal, Raghavan, and Tamaki developed efficient approximation algorithms for

the 2D shortest paths for a restricted class of obstacles (moderate obstacles).
Canny and Reif proved that the problem of finding a shortest 3-dimensional path,
with no curvature constraints, and avoiding polygonal obstacles, is NP-hard.
Asano, Kirkpatrick and Yap proved using similar techniques the NP-hardness of
optimal motion of a rod on a plane with polygonal obstacles.)
As a consequence of the above result, the curvature-constrained shortest-path
problem in 3D is at least NP-hard. Although the problem in 2D is long conjectured
to be a hard problem, its complexity is never stated or proved.
26/31
Mobility Enhancement in Nanorobots by using

Particle Swarm Optimization [5]
The mobility enhancement is one of the key areas of research for the Trajectory
and Path Planning in nanorobots. A Particle Swarm Optimization (PSO) algorithm
has been introduced to achieve the mobility enhancement.
In this approach, the optimize function is used which is based on the coverage
criteria, which reflects how well a target area is tracked. Suppose there are two
nanorobots Si and Sj located in positions (Xi, Yi) and (Xj, Yj) with sensing ranges
Ri and Rj respectively. Without loss of generality, movement of nanorobots will be
addressed how Si perimeter covered by Sj and how much target area covered by
both nanorobots Si and Sj.
The following three criteria are used for in the PSO
a) Movements in the Nanorobots
b) Coverage of the Target Area
c) Positioning of the Nanorobots
by the use of Positioning algorithm based of the fitness function.
27/31
Mobility Enhancement in Nanorobots by using

Particle Swarm Optimization [5]
How it works
Initialize with random coordinates and initial velocities are found out based on
fluid forces measured by Reynolds number. Fitness function is evaluated for each
nanorobot based on the coverage of the target area. By comparing fitness value of
each nanorobot over predefined threshold value, the positions and velocities are
adjusted. When a particle or a nanorobot discovers a pattern that is better than
any it has found previously, it stores the coordinates as new best positions. To find
targets, the nanorobots use the chemicals recognition of the background
concentration. If no signal was detected, a nanorobot just keeps flowing with the
bloodstream to avoid spending power. When a nanorobot detects the higher
concentration signal of the target, it releases another signal to attract other
nanorobots. It stops attracting others when the target region has k covered.
Whenever the changes occur, the nanorobots are placed to the new best positions.
The movement positions of the nanorobots are decided based on how much target
area is k covered.
28/31
Conclusion
The Trajectory and Path Planning for the Nanorobots mainly depends upon the
following factors.
1.
2.
3.
4.
The architecture design of the nanorobot

Motion planning of the nanorobots
Collision free movement of the nanorobot
Mobility enhancement i.e. result should come up in minimum time without
compromising
any of the factor.
The polar coordinate system based Particle Swarm Optimization approach has
been proposed as a feasible approach for the self organized control of
nanoscale robots. Obstacles and possible collisions can be avoided while still
continuing on an efficient trajectory, leading towards convergence on the
target. The simulation results have approved that the proposed scheme
effectively constructs a self organized mobility within the optimized coverage
area.
The nanorobots are a topic of advanced research work and many different
technological approaches are under study. Nanorobots are at a far earlier
stage of development in medical field and it can be extended to study the
adaptation techniques inside our body using nanorobots. Though MRI, PET, CT
(computer Tomography) can find the affected regions at tissue level.
However, we can find the affected regions at the cellular level using these
tiny robots.
29/31
ENVIRONMENT BASED TRAJECTORY AND

PATH PLANNING
By :
Nidhi Joshi
30/31
Introduction and Objective

As Robots are integrating into our living environment, it becomes impera
tive to develop methods which enable them to navigate in a safe, reliabl
e, comfortable and natural way around humans. In order to accomplish t
hat, robots need to predict the trajectory/path of dynamic obstacles (pe
ople, pets, cars etc).
Being able to plan paths efficiently will allow robots to be more responsi
ve and robust to a constantly changing environment. It has also been o
bserved that along with optimum path planning employing multiple robo
ts instead of a single one for performing specific tasks can prove very us
eful.
31/31
Research References
1. Bak, T.Andersen, H.J. Trajectory Planning for Robots in Dynamic Human
Environment, IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS), 2010 at Taipei.
2. Gong Dunwei, Geng Na Local Robot path planning with predicting band
trajectories of obstacles, IEEE Seventh International Conference on Natural
Computation (ICNC), 2011 at Shanghai.
3. Mike Phillips and Maxim Likhachev, Safe Interval Path Planning for Dynamic
Environment, 2011 IEEE International Conference on Robotics and
Automation, Shanghai International Conference Center
4. Liang Liu, Qing Liu and Yongyu Qu Improvement of D* Algorithm for Mobile
Robot Path Planning in Partial Unknown Environment, IEEE Second
International Conference on Intelligent Computation Technology and
Automation, ICICTA 2009.
5. Conesa-Munoz , Ribeiro, A. , Andujar, D., Fernandez-Quintanilla C. and Dorado,
J. Multi-Path Planning for a Fleet of Robots to work on Agricultural Tasks,
IEEE Congress on Evolutionary Computation (CEC), 2012.
32/31
Trajectory Planning for Robots in Dynamic

Human Environment [1]
Planning a minimal cost trajectory through a potential field. Potential field is defined from
perceived position and motion of persons
A new method introduced in RRT (Rapidly exploring random Tree algorithm) based on the cost of
traversing potential field
MPC(Model Predictive Control Approach) is taken, where only small part of trajectory is executed
while a new trajectory is calculated. Planning is done in C-T space using an MPC scheme. A good
motion unicycle type robot like Segway has been considered
Input to RRT Trajectory Planner previous best trajectory, the person trajectory estimates &
dynamic model of the robot
RRT Control Input Sampling New vertex to be added is now found by using dynamic robot
motion model and the controller to simulate the trajectory one time step. It ensures that added
vertex is reachable
Introduction of Node pruning and Trajectory Selection - If vertex corresponding to node ends up
in a place where potential field has a value above specific threshold, then node is not added to the
tree. Node is also pruned if time taken to reach the node is above a given threshold. Finally
instead of returning the trajectory of the vertex of the last added node, the trajectory with the
lowest cost is returned
Algorithm has been demonstrated to work in a simulated pedestrian street and has been observed
that it is fast as it does not have to calculate distances to all velocity vectors and is robust as well
Conclusion-It has a better coverage over the configuration space than sampling and use of MPC
enables planner to continuously plan reachable trajectory on an online system
33/31
Local robot path planning with predicting band
trajectories of obstacles [2]
Different from traditional method, predicted trajectory is a band not a curve.

PSO(Particle Swarm Optimization) is employed to solve it. It is simple and
easy to implement. We determine the risk of collision between the robot and
the obstacle according to the distance between the path of the robot and the
band trajectory of the obstacle so as to decide whether to plan a local
Assumption: constant velocity to minimize energy consumption and size of
obstacle 1.1 times its original size
Once time to sample information about obstacle is known, robot begins to
sample position of the obstacle at each sample time and predict its trajectory.
Trajectory of the obstacle a curve is extended to band to avoid collision . At
this time , selecting the width of band is crucial. If width is too small, robot
may be outside of the trajectory causing the collision
Performance Analysis Comparing with a curve trajectory of an obstacle
Total number of samples say n where m1 samples are in curve trajectory

suggesting n-m1 are outside the curve, so chances are more that robot will
collide
Conclusion - Probability of collision between robot and the obstacle decreases
greatly
34/31
Safe Interval Path Planning for Dynamic

Environment [3]
Planning in presence of dynamic obstacles is still challenging because it requires

adding time as an additional dimension. Most real time approaches to path planning
treat dynamic obstacle as static and constantly re-plan as they move.
Safe interval is a time period for a configuration with no collisions and if it were
extended one time step in either direction it would then be in collision.
Developed a planner that uses state defined by config. (x,y, etc) and safe interval
as independent variables, while only storing actual time step as dependent variable
A* algorithm with safe interval has been used which makes a call to getSuccessors
function. When generating successors, we say that s uses wait and move actions.
It means that for each safe interval in the new config, we wait the minimal amount
of time possible, so that when the move to the new configuration is used, we arrive
in the new safe interval as early as possible.
During A*, whenever a shorter path to is found, the cost is replaced with the
smaller one.
35/31
Simulation: Test on PR2
A node is written which uses PR2s lidar sensors to track people. A basic clustering
of lidar points from each scan is done and the matching of clusters is done to ident
ify
dynamic
or
static
obstacle
Result: Person was walking towards the robot , so planner had the robot duck into
doorway , wait for the person to go and then proceed to its goal.
Conclusion - It proves completeness and optimality by arriving at state in earliest
possible time and by providing a collision free path to the goal
36/31
Improvement of D* Algorithm for Mobile Robot Path

Planning in Partial Unknown Environment [4]
D* Algorithm combines local and global planning, makes sufficient use of

global environment and information from sensors, that had been
practically tested.
An improved D* plans better path.

- At first, 2D workspace with some obstacles is expressed by regularity
grids
- Then optimal path is planned by using D* Algorithm which searches for

the neighbor grid cells on 16 directions, so that it makes robot turning the
smallest increment angle down to /8
37/31
Basic D* theory makes use of following functions:

PROCESS-STATE : To compute optimal pat cost to goal.
MODIFY-COST : To change the arc cost function and enter affected states on the open
list.
It is a kind of Incompletion Re-planning where in original path differs while re-planning

a path. But it makes use of original planning information.
Improved D* reduces the unnecessary path cost and makes the mobot path planning
smoother by searching on 16 directions.
Tested on WiRobotX80 - It was proved total length of path and total angles changes
planned by improved D* algorithm are less than the conventional one.
38/31
Multi-Path Planning for a Fleet of Robots to

work on Agricultural Tasks [5]
Using multiple robots to handle tasks that are too complex or too expensive to
be performed by a single robot. In such scenarios, path has to be planned in
such a way that robots do not collide with each other. In this paper, Weed
treatment in an agricultural field has been considered.
NSGA II (Non Dominated Sorting Genetic Algorithm) is used for solving this.
Aim is to determine multi-path plan that ensures lowest cost in term of both
money and time for overall treatment.
Solution is represented by an integer vector that indicates which robot should

treat each col in the field.
To define order of treatment i> given a robot, col closest to its original
position on the 2 most external cols in selected; ii>once robot has left the col it
must advance to the header to the closest untreated col
39/31
Main factors to take into account are :

- Distance : to determine shortest path the covers the entire field
- Turns : Minimum turns
- No. of Robots Used : Balance between time and No. of Robots
- Herbicide Application : Amount of herbicide depends on no. of herbicide
operations
- Herbicide tank capacity : To avoid frequent refilling as need to reach to
header for that.
After performing various tests, can be concluded NSGA-II offers a method of

obtaining a set with the best solutions not only for a single vehicle but for a
fleet
40/31
CONCLUSION
We have presented five different approaches to path/trajectory pla

nning in a dynamic environment for obtaining a collision free path t
o the target within minimum possible time and cost. Various factor
s have been considered within respective algorithms to evaluate th
e environment and provide the optimal path. We have also seen th
at employing multiple robots can simplify a complex task consideri
ng all parameters are taken into account while designing the path.
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Artificial Intelligence Based

Path Planning
By :
Archana Saxena
42/31
Introduction
One of the most important issues in the design and development of intelligent
mobile system is the navigation problem. This consists of the ability of a mobile
robot to plan and execute collision free motions within its environment.
This environment may be imprecise, vast, dynamical and either partially or nonstructured. Robots must be able to understand the structure of this
environment.
To reach their targets without collisions, the robots must be endowed with
perception, data processing, recognition, learning, reasoning, interpreting,
decision-making and action capacities. The ability to acquire these faculties to
treat and transmit knowledge constitutes the key of a certain kind of artificial
intelligence.
Reproduce this kind of intelligence is a human ambition in the construction and

development of intelligent machines, and particularly autonomous mobile
robots.
To reach a reasonable degree of autonomy two basic requirements are:

Sensing is provided by onboard sensory system that gathers information
about robot with respect to the surrounding scene.
Reasoning is accomplished by devising algorithms that exploit this
information in order to generate appropriate commands for robot.
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References
1.
Dmitry Berenson, Pieter Abbeel and Ken Goldberg, A Robot Path Planning
Framework that Learns from Experience, IEEE International Conference on
Robotics and Automation, 2012.
2.
Preetha Bhattacharjee, Pratyusha Rakshit, Indrani Goswami (Chakraborty),

Amit Konar and Atulya K. Nagar, Multi-Robot Path-Planning Using Artificial
Bee Colony Optimization Algorithm, IEEE Third World Congress on Nature
and Biologically Inspired Computing, 2011.
3.
I. Hassanzadeh, K. Madani and M. A. Badamchizadeh,Mobile Robot Path

Planning Based on Shuffled Frog Leaping Optimization Algorithm, 6th annual
IEEE Conference on Automation Science and Engineering, 2010.
4.
Masoud Samadi and Mohd Fauzi Othman, Global Path Planning for
Autonomous Mobile Robot using Genetic Algorithm, IEEE International
Conference on Signal-Image Technology & Internet-Based Systems, 2013.
5.
Wing Kwong Chung and Yangsheng Xu, A Generalized 3-D Path Planning
Method for Robots Using Genetic Algorithm with An Adaptive Evolution
Process, IEEE Proceedings of the 8th World Congress on Intelligent Control
and Automation, 2010.
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Objective and Motivation
Given an object with an initial location and orientation, a goal location and
orientation, and a set of obstacles located in workspace, the problem is to find a
continuous path from the initial position to the goal position, which avoids
collisions with obstacles along the way.
The motion planning problem is divided into two sub-problems.

The findspace problem is construction the configuration space of a given
object and some obstacles.
The findpath problem is in determining a collision-free path from a given
start location to a goal location for a robot.
The major difficulties in the path planning approach are: expensive computation
is required to create the configuration space from the robot shape and the
obstacles and the number of searching steps increases exponentially with the
number of nodes.
Thus, there is a motivation to investigate the use of algorithms for solving these
problems, which has the potential for much increased speed of calculations.
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A Robot Path Planning Framework that

Learns from Experience[1]
A long-standing goal of research in robotics is to create a robot whose ability to

perform a task improves with experience through performing similar tasks.
A path planning algorithm is only given the robot and environment models along
with the start and goal configurations and asked to generate a path.
While this approach, planning-from-scratch (PFS), is general, it can produce

unacceptably long planning times for difficult problems. Even if the robot
previously generated a path for a very similar task, PFS affords no way to take
advantage of this previous computation.
This paper propose a framework, called Lightning, for planning paths in highdimensional spaces that is able to learn from experience, with the aim of
reducing computation time.
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The Lightning framework (see

Figure) consists of two main
modules, which are run in
parallel:
* planning-from-scratch
(PFS)
*
Retrieve-Repair
(RR)
Given
a
new
query,
both
modules
are
started
simultaneously and the first path
produced by either module is
executed on the robot while the
other
module
is
stopped.
Diagram of the Lightning framework
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The Lightning framework has several advantages.

There is no need to arbitrarily pre-generate some number of paths before
running the system.
These paths will require little repair and feasible paths will be produced
much more quickly than using a sampling-based planner to plan from
scratch.
The system can run over the lifetime of the robot, even as the robot
transitions between different types of tasks.
The contributions of this paper are the following:

A general and efficient framework for building and using a path library.
A formal definition of the problem of retrieving and repairing a path from
the library.
A fast method for retrieving paths based on the above definition.
Experiments showing a range of situations in which the Lightning
framework outperforms PFS.
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Multi-Robot Path-Planning Using Artificial Bee

Colony Optimization Algorithm[2]
The artificial bee colony optimization (ABC) technique is a population based

algorithm for numerical function optimization that draws inspiration from
the stochastic behavior of foraging in bees.
This paper proposes an alternative approach to path planning of mobile

robots using the ABC optimization algorithm. The problem attempts to
determine the trajectory of motion of the robots from predefined starting
positions to fixed goal positions in the world map with an objective to
minimize the path length of all the robots.
Proposed optimization scheme outperforms two well-known algorithms with

respect to standard metrics, called average total path deviation and average
uncovered target distance.
This path-planning problem is formulated by a centralized approach, where

an iterative algorithm is invoked to determine the next position of all the
robots satisfying all the constraints imposed on the multi-objective function.
The algorithm is iterated until all the robots reach their destination.
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The fitness function of the ABC has two main components:

The objective function describing the selection of next position on an
optimal trajectory.
The constraint representing avoidance of collision with other robots and
with static obstacles, placed co-ordinates.
In ABC algorithm, the colony of artificial bees contains three groups of bees:
A bee waiting for making decision to choose a food source , onlooker.
A bee going to the food source visited by it previously, employed bee.
A bee carrying out random search, scout.
In ABC algorithm, the position of a food source represents a possible solution
of the optimization problem and the nectar amount of a food source
corresponds to the fitness of the associated solution. The number of employed
bees and onlooker bees is equal to the number of solutions in the population.
The ABC algorithm consists of following steps:
Initialization
Placement of employed bees on the food sources
Placement of onlooker bees on the food sources
Scout Bee Phase
This problem is taken care of in ABC as the scout is assigned the task of
searching for new food sources, after the employed and onlooker bees have
exhausted the profitable food source obtained after certain iterations of the
program.
Simulation results obtained in this experiment show that ABC algorithm
performs better than the other algorithms and can be efficiently employed to
solve practical engineering problems with high dimensionality.
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Mobile Robot Path Planning Based on Shuffled Frog

Leaping Optimization Algorithm[3]
Proposed a method of robot path planning in partially unknown environments

based on shuffled frog leaping (SFL) optimization algorithm.
The proposed algorithm allows a mobile robot to navigate through static

obstacles and finds its path in order to reach from its initial position to the
target without collision.
Consider a group of frogs leaping in a swamp. The swamp has a number of

stones at discrete locations where the frogs can leap onto. The goal of all the
frogs is to find the stone with the maximum amount of available food as quickly
as possible through improving their memes. The frogs can communicate with
each other, and can improve their memes by passing information on each other.
Improvement of the memes results in changing an individual frogs position by
adjusting its leaping direction and step size.
The difference and potential advantage of the memetic representation over

genetic algorithms is that information is passed among all individuals in the
population, whereas in a genetic algorithm only parentsibling interactions are
allowed.
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In the SFL, the population is partitioned into subsets called memeplexes. The
different memeplexes are considered as different cultures of frogs, each
performing a local search. Within each memeplex, the individual a frogs hold
ideas, that can be influenced by the ideas of other frogs, and evolve through a
process of memetic evolution. After a defined number of memetic evolution
steps, ideas are passed among memeplexes in a shuffling process. The local
search and the shuffling processes continue until defined convergence criteria
are satisfied.
The procedure of real-time path planning is divided into the following three
steps.
Transform the path planning problem into an optimization one, and define
the optimization objective based on the target and the obstacles in the
environment.
Apply the SFL to solve the above optimization problem. During this process,
the position of the globally best frog in each iterative is selected, and the
robot reaches these positions in sequence.
The robot constantly updates the information detected by its sensors, and
the optimization objective function changes accordingly.
Each position to be reached by the robot is evaluated based on the distance

between itself and the target and obstacles in the environment. Therefore the
nearer a position to the target, the greater the fitness of the position should be
the proposed method is simulated and implemented in a Khepera II robot in
webots simulator. The simulation results show the effectiveness and
robustness of this new algorithm and the robot moves smoothly toward its
target.
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Global Path Planning for Autonomous Mobile

Robot using Genetic Algorithm[4]
The proposed method is a global path planning method with hexagonal grid map
modeling. It reads the map of the environment and plans the optimized path by
using GA method simulated in MATLAB R2012b software.
Localization and Planning are fundamental components of navigation. The ability

to estimate the accurate position of obstacles in the environment based on
perceptional sensors is known as localization while Planning is defined as
generating the map through the environment.
The initial population may include impassable paths and there is a possibility for
the next generation to have the same issue and convert the search environment
into a graph.
Based on the original genetic algorithm, the initialization, fitness function,
Selection and other parts should be defined.
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Results
The GA has a good

capability to improve
the
path
planning
algorithm and generate
an optimized path with
respect to path length
and cost of the path.
The use of special

selection and crossover
functions were able to
reduce
the
GA
calculation time and
led
to
better
path
planning algorithm.
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A Generalized 3-D Path Planning Method for

Robots Using Genetic Algorithm with An
Adaptive Evolution Process[5]
Propose a new criterion for the selection of genetic operators during evolution
in order to further facilitate the searching efficiency.
Propose a generalized 3-D path planning method for robots using GA with an
adaptive evolution process.
Introduce a new genetic operator, called Bind-NN which randomly divides and
recombines an elitist chromosome based on nearest neighbor. It not only keeps
the randomness of the genetic evolution (randomly cut of a chromosome) but
also introduces a greedy local search effort by nearest neighbor recombination
of genes segments.
The proposed algorithm consists of three major contributions.

A complete framework of modeling and solving a 3-D path planning problem
The use of a new genetic operator which facilitates the searching
effectiveness (final solution)
A genetic operators selection scheme which enhances the searching
efficiency (time for convergence).
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For the workspace of a robot, it used as a frame structure. Different check points
can be defined by a user at those edge points. The length of an edge represents
the distance between the two edge points.
The length a chromosome is equal to the total number of check points.
Fitness function counts the total distance travel (DT) along the path given by a
chromosome.
During the evolution process, different chromosomes are first grouped into
different portions each with equal size. For each portion, a chromosome with the
highest fitness value is selected. Reproduction is then performed.
Genetic operators are
Genes Flip
Genes Swap
Gene Slide
Bind-NN: NN means nearest neighbor
Experimental results show a significant improvement in terms of search

effectiveness and efficiency. The proposed algorithm describes a complete
framework of modeling and solving a 3-D path planning problem.
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Conclusion
This investigation is based on AI for path planning as well as development of
autonomous navigation learning algorithm for a mobile robot, functioning in a
known and partially unknown environment in presence of obstacles.
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Trajectory Planning
in
Air Craft
By :
Nitin Saini
59/31
Introduction
Several concepts in Air Traffic Management involve the use of long term
prediction of aircraft trajectories as a way of ensuring efficient and conflict free
flights from gate to gate.
The mission effectiveness of tactical aircraft can be assessed by methods

ranging from using mathematical models of the aircraft and threat weapon
systems to flight testing tactics in a simulated combat environment.
Investigate the feasible sky-lanes for aircraft by minimize the impact to

populated area and the threats from terrain obstacles to the aircraft.
Preferred trajectories from several aircraft will inevitably lead to conflicts which
must be resolved by constraining one or more aircraft to fly a non-optimum

trajectory. Such traffic avoidance constraints may occur at any point in a
trajectory and may involve changes to the lateral track, to altitudes or to timing.
The aim is to modify an optimum trajectory as little as possible whilst still
meeting the necessary constraints.
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Research Publications
Trajectory Planning Algorithm Based on Quaternion for 6-DOF Aircraft

Wing Automatic Position and Pose Adjustment Method
Real-time trajectory planning for UCAV air-to-surface attack using inverse

dynamics optimization method and receding horizon control
Route Planning for Light-Sport Aircraft in Constrained Airspace .
Robust optimization of aircraft weapon

probability collectives and meta-modeling.
Aircraft trajectory planning under uncertainty by light propagation
delivery
trajectory
using
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Trajectory Planning Algorithm Based on

Quaternion for 6-DOF Aircraft Wing Automatic
Position and Pose Adjustment Method
Introduction
The precise adjustment of wing position and pose is a primary and necessary condition
for wing-fuselage accurate connection, and the connection efficiency and precision are
closely associated with wing position and pose adjustment.
Wing-fuselage connection is one of the most important aircraft final assemblies whose
quality plays a great role in aircraft flight safety. Many assembly points need to be
connected accurately during the connection, and wing as well as fuselage has heavy
mass and complex shape, therefore the connection is a complicated assembly process.
Aim
The aim of wing trajectory planning is to solve intermediate position and pose between
the initial and target position and pose during the adjustment process. In engineering
application, wing should move smoothly, and beginning and terminating velocities as
well as accelerations should be zero to eliminate impact.
The traditional adjustment of wing by manual labor employs a lot of craft equipment.
Moreover, it is inefficient with low and unstable precision.
The traditional adjustment method cannot satisfy final assembly requirements of
modern civil aircraft.
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Methodology
ARJ21, is a jet manufactured with traditional adjustment method for wingfuselage. Based on the automatic and digital assembly technology, a 6-degree of
freedom (6-DOF) wing automatic position and pose adjustment method is
proposed to improve ARJ21 wing adjustment efficiency and precision.
The method combines laser tracker tracking and measuring, automatic positioning
and wing-fuselage connection integrated software system.
According to initial, target position and pose, as well as engineering constraining
conditions, wing trajectory planning algorithm based on quaternion is proposed to
avoid singular and multiple solutions of Euler angle.
Results
The method realizes accurate adjustment of wing position and pose, improves
wing-fuselage connection efficiency and employs less craft equipment. The method
employs fewer servo motors than the over-actuated position and pose adjustment
method.
Simulation results show that the automatic position and pose adjustment method
has good dynamic characteristics, steady response performances, and all
engineering constraining conditions are satisfied during the adjustment process.
Conclusion
The automatic adjustment method can also be used for other aircraft wings in
addition to ARJ21, and the method provides theoretical and practical basis for
China-made large aircraft wing-fuselage automation connection.
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Real-time trajectory planning for UCAV air-to-surface

attack using inverse dynamics optimization method
and receding horizon control
Introduction
Unmanned combat aerial vehicles (UCAVs) are equipped with missiles or guided
bombs, and can launch an attack and return to base or land on aircraft carriers.
These vehicles will provide more tactical flexibility than a cruise missile because
they will be able to loiter in the area and search for a moving target, and then
strike it with their weapons. Compared with a reconnaissance flight, during the
course of an air-to-surface (A/S) attack, UCAVs will autonomously fly with
highly aggressive maneuvers and fly frequently on the fringe of the flight
envelope, to meet the pre-weapon launch targeting conditions as quickly as
possible,
while avoiding the detection and engagement of surface-based air
defenses. The idea of directly commanding the UCAV to track and attack a
moving target, would be impractical, considering the fast and complicated
dynamics of a typical UCAV. Therefore, one of the key technologies of UCAV is
the autonomous, on-board, real-time trajectory planning.
Aim
The objective is to develop an efficient real time trajectory planning framework
for the typical UCAV platform, which can provide a solution that optimizes the
system objective while satisfying the boundary, path and platform kinematic and
dynamic constraints, as well as sensor and weapon employment constraints
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Method
This paper presents a computationally efficient real-time trajectory

planning framework for typical unmanned combat aerial vehicle (UCAV)
performing autonomous air-to-surface (A/S) attack. It combines the
benefits of inverse dynamics optimization method and receding horizon
optimal control technique.
Firstly, the ground attack trajectory planning problem is mathematically

formulated as a receding horizon optimal control problem (RHC-OCP). In
particular, an approximate elliptic launch acceptable region (LAR) model
is proposed to model the critical weapon delivery constraints.
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Secondly, a planning algorithm based on inverse dynamics optimization,

which has high computational efficiency and good convergence
properties, is developed to solve the RHCOCP in real-time.
Thirdly, in order to improve robustness and adaptively in a dynamic and

uncertain environment, a two-degree-of-freedom (2-DOF) receding
horizon control architecture is introduced and a regular real-time update
strategy is proposed as well, and the real-time feedback can be achieved
and the not-converged situations can be handled.
Results
The results show that the framework is able to generate both feasible
and near-optimal attack trajectories very efficiently, even in the
presence of moving target or obstacles, as well as disturbances due to
wind. The results show that the computational speed of inverse dynamics
method is more than an order of magnitude faster than that of GPM, at
small loss of optimality
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Route Planning For Light-sport Aircraft In

Constrained Airspace
Introduction
Light-sport aircraft is defined as simple-to-operate, easy-to-fly aircraft by

Federal Aviation Administration in United States. It also includes powered
parachutes, weight-shift control aircraft, balloons, gyroplanes, gliders and
airships. These aircraft can be categorized as standard, experimental amateurbuilt, experimental light-sport aircraft (E-LSA), or special light-sport aircraft
(S-LSA). The airspace for the activities of light-sport aircraft in Taiwan is
strongly restricted due to mountainous terrains and populated areas.
AIM
To investigate the feasible sky-lanes for light-sport aircraft by minimize the

impact to populated area and the threats from terrain obstacles to the aircraft.
Methodology
The route planning problem for LSA was dealt with three stages: (1) threat
identification and modeling; (2) the spatial segmentation and the generation of
initial routes; (3) the search of an optimized route.
In this work, the Dijkstra algorithm is adopted to find the optimized route.
Dijkstra algorithm is one of the most popular graph search algorithm to solve
the single-source path problem for a graph with non-negative edge path costs.
Its inefficiency can be ignored by higher computing capability of modern
computers. The efficiency can be improved by largely reducing the data number
considering only the obstacles higher than cruise height.
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Result
To validate the feasibility of this technique in complex terrain constraints, three

scenarios of different types of lanes are adopted for the simulation. They are
A straight lane,
A continuous curved lane for curved valleys,
A dispersed prohibited areas and obstacles between the departure airfield and
the destination.
Conclusion
This work provides one feasible way to construct the safe sky lanes for LSA
flight for expanding the airspace
69/31
Robust Optimization Of Aircraft Weapon

Delivery Trajectory Using Probability
Collectives And Meta-modeling
Introduction
Weapon delivery planning (WDP) is mainly considered as an issue of path planning, in which a
flight path is generated to guide an aircraft to reach a weapon delivery point. The
development of trajectory optimization techniques, aerodynamic models have been introduced
to solve aircraft motions under a set of position and attitude constraints.
Aim
The aim of this paper is to create a robust and efficient approach for aircraft trajectory
optimization under complex mission environments.
Method
In this study, a new framework named tactics template is proposed to model an aircraft
weapon delivery trajectory through templates of basic flight maneuvers (BFMs). The BFMs are
a set of parameterized simple maneuvers, such as level turn, climb, and so on. The
combination of the BFMs (also called BFM sequence) can build up complex aircraft maneuvers.
A template represents a specified BFM sequence containing a set of maneuver variables,
through which the profile of the trajectory can be determined.
Result
Results reveal that the proposed approach is capable of generating robust and optimal
trajectories with both accuracy and efficiency.
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Aircraft Trajectory Planning Under

Uncertainty By Light Propagation
Introduction
The Light Propagation Algorithm (LPA) was introduced to successfully manage the full day
traffic over the French airspace. Light Propagation Algorithm (LPA) is based on an optical
analogy and its objective is to find optimal 4D trajectory, for each aircraft. It minimizes a
criterion based on a local metric. However, LPA does not take into account the uncertainties
present in Air Traffic Management (ATM)
Aim
To find an optimal 4D trajectory for each aircraft that avoids conflicts with other aircraft, a
destination point and optimizes a cost function which depends on the travel duration.
Method
This paper deals with an important Air Traffic Management (ATM) problem that involve,
generation of sets of 4D conflict-free trajectories (the tactical planning problem). A
methodology was developed that permit to solve real-world conflict resolution problems under
uncertainty. This methodology includes two steps. The first step takes into account the
conservative open-loop uncertainty model whereas the second step imposes RTA (Real Time of
Arrival constraints) points on some conflicting trajectories. The goal of RTA points is to impose
an aircraft to be at a specied position at some given time.
Uncertinity-LPA assumes that each aircraft follows perfectly its intended trajectory during this time window. This
assumption is not realistic. The uncertainty that we consider in this study, is the di erence between the aircraft
actual position and its intended position during the prediction time horizon t. This uncertainty depends on
weather data accuracy, including actual wind speed and actual temperature at the aircraft ight level.
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Result
Results show that taking into account uncertainty on aircraft positions, there
has been a considerable increase in the problem difficulty. Indeed, the
number of detected conflicts is 1.5 times greater than in the case without
uncertainty, due to the protection-area volume growth, for the same traffic
situation. On the other hand, the conflict resolution percentage drops to
88% in the case of open-loop uncertainty, and improves to 93% when
applying RTA point.
Conclusion
Indeed, RTA (Real Time of Arrival constraints) can be used, but there are
probably more sensible rules that would achieve results that could be almost
as good as the ones obtained in the framework without uncertainty. Hence it
is concluded that future work will improve the way they place RTA
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Trajectory and Path Planning

in
Underwater Robots
By :
SUNIL BISAIYA
74/31
TRAJECTORY PLANNING UNDERWATER
A trajectory planning underwater aim to identify path that is safe and effici
ent in unsafe water-space.
Submarine robots are one of the widely applied robots, which are used in su
bmarine exploration and marine environmental research.
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Research Publications
LOW COST SUBMARINE ROBOT

Ponlachart Chotikarn1, Werapong Koedsin2, Boonlua Phongdara3 and Pattara Aiyarak1*
1 Innovation in Physics and Intellectual Properties Research Unit,Department of Physics, Faculty of Scien
ce,2 Faculty of Technology and Environment,Prince of Songkla University, Phuket Campus, Kathu, Phuke
t, 83120, Thailand. 3 Department of Physics, Faculty of Science,Prince of Songkla University, Hat Yai, So
ngkhla, 90112 Thailand.
AUV PATH PLANNING: AN A* APPROACH TO PATH PLANNING WITH CONSIDERATION OF VAR

IABLE VEHICLE SPEEDS AND MULTIPLE,OVERLAPPING,TIME-DEPENDENT EXCLUSION ZONES.
Kevin P. Carroll, Stephen R. McClaran, Eric L. Nelson, David M. Barnett,
Donald K. Friesen, and Glen N. Williams,Computer Science DepartmentTexas A&M University
LOW COST AUTONOMOUS UNDERWATER VEHICLE FOR PIPELINES AND CABLE INSPECTIONS.
CONICET and INTELYMEC Group, Electromechanical Dept., Engineering Faculty,
Universidad Nac. del Centro Prov. de Buenos Aires - UNCPBA, Argentina;A. Calvo Ibanfiez
GTE Group, Physic Dept., Universitat de les Illes Balears - UIB, Spain;
H. J. Curti INTIA Group, Computer Sciences Dept., Exact Sciences Faculty, Universidad Nac. del
Centro Prov. de Buenos Aires - UNCPBA, Argentina;A. F. Rozenfeld,Physic Dept., Universitat de les Ille
s Balears - UIB, Spain
OPTICAL GUIDED AUTONOMOUS DOCKING METHOD FOR UNDERWATER RECONFIGUARABLE R

OBOT
Donny Sutantyo, David Buntoro, and Paul Levi,Institute of Parallel and Distributed System,University
of Stuttgart,Stuttgart, Germany
EXPANDING THE TIME HORIZON IN UNDERWATER ROBOT SWARMS.

Vincenzo Fioriti1, Stefano Chiesa1 , Fabio Fratichini1 and Andrea Arbore
1 ENEA, CR Casaccia, UTTEI-ROB Unit, Robotics Laboratory
2 Aletea SpA, Rome, Italy
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Low Cost Submarine Robot
A submarine robot is a semi-autonomous submarine robot used mainly for mari

ne environmental research.
We aim to develop a low cost, semi-autonomous submarine robot which is able

to travel underwater. The robots structure was designed and patented using a
novel idea of the diving system employing a volume adjustment mechanism to
vary the robots density.
A light weight, flexibility and small structure provided by PVC can be used to c
onstruct the torpedo-liked shape robot.
Hydraulic seal and O-ring rubbers are used to prevent water leaking. This robo
t is controlled by a wired communication system.
This robot can be moved up and down by controlling air pressure in its ballast,
while in the study of Bokser et al. (2003) the movements of the robot were con
trolled by adjusting air pressure using water ballast.
This robot communicated with a computer using radio waves.
Hardware Specifications
The low cost submarine robot is a small size robot with 81-116 centimeters in l
ength, and 10.16 centimeters in diameter.
The maximum weight of the robot is about 10 kg.
Most of electronic devices, motor, and batteries are in the hull, which is waterti
ght. O-ring rubbers were used to make a watertight system.
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Conceptual Diagram of Robots Hardware
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Discussion and Conclusions
The low cost submarine robot is a semi-autonomous submarine robot

used for marine environmental research.
We aim to develop a low cost, semi-autonomous submarine robot wh

ich is able to travel underwater.
The robots structure was designed and patented using the novel ide
a of the diving system employing a volume adjustment mechanism to
vary the robots density. When the robot volume decreases, the dens
ity increases, so that the robot can move downward and vice versa.
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Path Planning of Autonomous Underwater Vehi

cles in Current Fields with Complex Spatial Vari
ability: an A* Approach
Autonomous Underwater Vehicles (AUVs) operate in ocean environments charac
terized by complex spatial variability which can jeopardize their missions.
This work explores the benefits, in terms of energy cost, of path planning in mar
ine environments showing certain spatial variability.
Extensive computations have been carried out to calculate, by means of an A* s
earch procedure, optimal paths on ocean environments with different length sca
le of eddies and different current intensities.
To get statistical confidence, different realizations of the eddy field and startin
g-ending points of the path have been considered for each environment.
Substantial energy savings of planned paths compared to straight line trajectori
es are obtained when the current intensity of the eddy structures and the vehicl
e speed are comparable.
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Path planner
1.
2.
3.
4.
Monitoring Resources
Planning with Multiple heeds
Planning with Corridors
Planning along Great Circles
Path Generation
. The path planner is given a start task point and a goal task point along with cons
traints about the path that is to be generated between them.
. The planner will attempt to generate a minimum-cost, collision-free, great circle
path that meets the time and resource constraints.
. A path is considered collision-free if it does not cross obstacles, active exclusion
zones, or land masses (collectively referred to as non entry zones).
. In the event that a direct path does not exist between the start and goal task poi
nts, the planner will insert navigation points to guide the AUV around non entry z
ones. If an exclusion zone blocks the desired path.
A* ALGORITHM
. It is implemented as a search engine to find the optimum path in a given ocean c
ondition.
. The traditional Euclidean distance between field point and the destination goal, d
ivided by the maximum possible nominal speed was employed like Heuristic func
tion.
.
This election ensures the heuristic cost will always lower than the actual cost to
reach the goal from a given node and thus the optimum solution is guaranteed.
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This paper describes the implementation of an A* based path planne

r for an AUV.
The path planner maintains a number of databases to facilitate the pl

anning process. These include bathymetry, exclusion zone, obstacle,
and ocean current databases.
Features of the path 82 planner discussed are monitoring resources,

planning with multiple speeds, planning along great circles, super sa
mpling of large quadrants, and refining paths.
The examples demonstrate that the path planner is able to generate

simple paths, paths around land masses, paths at specific depths ,pa
ths through obstacle fields, and paths through/around multiple comp
lex, time-dependent exclusion zones.
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Autonomous underwater vehicles for sub

marine Cable and Pipeline Inspection
Pipeline trajectory may be estimated from special sensors like a multi-beam ec

ho sounder (MBE), a sensors like a multi-beam echo sounder (MBE), a DIDSON
sonar (DID), cameras (CAM) and others.
This information is combined in a sensor fusion module (SFM) yielding a positio

n and direction estimate of the target to be inspected.
From these data, the DMP is able to decide a trajectory according to different si
tuations like searching a pipeline, following it, navigating closer to it, or recogni
zing other objects surrounding it.
The Path Planner in this architecture only decides if the desired trajectory given
by the DMP is possible or not, according to the outcome of the OAS.
The Obstacle Avoidance System (OAS) receives data from a forward looking mu
lti-beam sonar.
When an obstacle is detected, a near possible waypoint is proposed to correct t

he desired trajectory from the DMP.
Finally, guidance and control systems modules command the from the 4-waypoi
nts trajectories, vehicle actuators (propellers, rudders and pumps).
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Expert System Based Dynamic Planner
When doing an inspection, many situations might appear (like the s

udden appearance of a fishing net, a complex pattern of more than o
ne pipeline over the seabed, or a detour due to obstacle detection, an
d many others) in which the DMP should exhibit an "intelligent" beha
vior.
To yield a desired trajectory, the actions are organized in a set of few
simple subtasks: find start, search, back to start, skip, and track.
Then the final trajectory of the AUV is built by one of these sub tasks
or by a concatenation of them.
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AUVI PROTOTYPE
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Successful simulation results of the control system based on a PI-MI

MO control and experimental results on a terrestrial 2D platform wer
e concluded.
This OAS is based on a neural network whose parameters are tuned

using evolutive programming. The key aspects of the design consider
ation of the software and hardware elements in the prototype were p
resented in this article, as a low-cost adaptation of the AUTOTRACKE
R vehicle.
In particular, the dynamic mission planner based on an expert syste

m was described in algorithms. This mission planner showed that thi
s artificial intelligence approach is able to re-plan the vehicle traject
ory while in the mission, taking into account the mission settings, th
e changing underwater environment and the situation of the target u
nder inspection.
The new low-cost experimental prototype presented here, will surely

be an adequate test-bed for the new task and path planning.
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Optical-guided Autonomous Docking Method f

or Underwater Reconfigurable Robot
Four major technological challenges in the field of modular underwater r

obots:
Design of the mechanical systems required for docking, underwater s

ensing system for guiding the docking.
An algorithm for performing
The autonomous docking mechanism.
An algorithm for distributing and synchronizing anguilliform swimmi

ng gait.
87/31
ANGELS ROBOT AND DOCKING MECHANISM
The ANGELS robotic platform is composed of nine reconfigurable AUV

s that can navigate autonomously as single agents or can be serially
connect together in chain morphologies composed of more than thre
e AUV s that that are capable of anguilliform swimming.
The possibility to exploit different morphologies aims at improving th

e versatility of the system: a swarm of single agents can effectively s
pread to investigate the environment, while the AUVs serially connec
ted can cover long distances by exploiting an energetically efficient u
ndulatory swim.
AMOUR is the only other underwater robotic system capable to auton

omously reconfigure by vertically stacking and unstacking functionall
y different modules (e. g. batteries, propellers, buoyancy mechanism
s and sensors).
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ANGEL WITH ITS MAIN SYSTEMS
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SENSING AND COMMUNIC ATION FOR UNDER

WATER DOCKING SYSTEM
Blue light system is selected as the main part for the sensing and communication ar
chitectures.
The choice of using optical system is due to its capability to be modulated/encoded
and due to its directional pattern.
EXPERIMENTS
The algorithm developed for guiding the docking is based on the master-slave appro
ach.
The robot with the master status, which is selected for robot with lower ID number,
is kept in a fixed position.
The master robot transmits blue-light signals to the slave robot during the whole do
cking procedure.
A. Using encoded blue-light and digital compass for guiding the docking.
B. Using encoded blue-light, Analog blue-light, and Compass for guiding the docking
By combining the blue light system and the compass, it is possible to create an auto
nomous docking method that can work at a inter-robot distance up to five times the
robot body length(total distance of 100 cm).
The addition of the analog blue light circuit for measuring gradient at low distance
20cm) improves the performance of the docking process.
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Expanding the Time Horizon in Underw

ater Robot Swarms
The time delays affecting the diffusion of information in an underwater het

erogeneous robot swarm in a time-sensitive environment.
Each member of the swarm must update its knowledge about the environ
ment as soon as possible, thus every effort to expand the time horizon is u
seful.
A group of underwater robots resembles closely a fish swarm, suggesting t

o use the properties of the biological swarm: coordinated movements, dec
entralized control, small interaction scale, minimal information broadcast.
The biologically inspired swarm control has advantages over the more com
plex but single robot: it covers a larger area, is fault tolerant, is self-awar
e.
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Goals
Depending on the local underwater environment, the speed of acoustic waves i

n water varies around 1500 m/s.
The other source of delay is the management of the acoustic channel by proper
MAC (medium access control) protocols.
We focus on the reduction of delays when the fast propagation of short warnin
g messages to the whole swarm is needed.
We consider the existence of a small group Of AUV equipped with high quality
communication devices able to reduce the transmission time with their closest
neighbors.
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Scenarios and Data Preparation
The Simulation Scenarios
Scenario 1, all delays are derived from an uniform probability distribution.
Scenario 2, each link between two nodes is affected from its own Gaussian distri
bution with positive support, because delays are strictly positive.
The Configurations
The configurations assumed by the AUV (in the following called graphs or netwo
rks) considered in this prepare the random Erdos-Renyi (E-R), a graph whose n
odes are connected almost randomly; the Grid, a regular disposition of nodes; th
e Small-World (S-W), a configuration between the grid and the random graph; t
he Galaxy, a group of interconnected star configurations; the Cluster, a group of
interconnected ring configurations.
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The Optimization Methods
We are interested in those who can determinate a small set of nodes (the bud
get) equipped with particular spreading influence.
The phenomenon is analogous to the diffusion of a malware or a real virus.
The methods we use are: AV11, degree centrality, betweenness centrality and
finally the random choice (in order to check results against the banal predicto
r).
Others parameter are available, but these are probably the more relevant to ou
r investigation.
The degree centrality is the simples algorithm. It suffices to count the number
of links connected to a node. It is also intuitive that an high degree designate
an influent node (called hub).
Betweenness centrality (BC): total number of shortest paths between every po

ssible pair of nodes that pass through the given node.
Betweenness looks for vertices connecting separated sub graphs.
AV11: selects a subset of k nodes all at once, according to spectral combinatori
al methods. The selected subset may be optimal or suboptimal with respect to
the brute-force method.
Spectral methods are able to analyze the dynamical behavior of graphs from th
e static appearance of the topology.
Protocol
The protocol we consider here is a gossip like (sometimes called epidemic s

preading) protocol, i.e. each node-agent in the swarm broadcasts the messag
e to the one-hop neighbor.
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Absolute times should not be regarded as indicative of a general behavior, b

ecause of the too wide variation of the conditions in the real marine environ
ment.
The important point here is the relative time difference among the topologie
s in each scenario.
95/31
Thanks
96/31

Path and Trajectory Planning

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Path and Trajectory Planning

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Path and Trajectory Plan

ANHUI UNIVERSITY OF FINANCE & ECONOMICS

ANHUI UNIVERSITY OF FINANCE & ECONOMICS

ANHUI UNIVERSITY OF FINANCE & ECONOMICS

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ANHUI UNIVERSITY OF FINANCE & ECONOMICS

ANHUI UNIVERSITY OF FINANCE & ECONOMICS

ANHUI UNIVERSITY OF FINANCE & ECONOMICS

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ANHUI UNIVERSITY OF FINANCE & ECONOMICS

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ANHUI UNIVERSITY OF FINANCE & ECONOMICS

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ANHUI UNIVERSITY OF FINANCE & ECONOMICS

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ANHUI UNIVERSITY OF FINANCE & ECONOMICS

ANHUI UNIVERSITY OF FINANCE & ECONOMICS