Autonomous navigation and path planning for Tiago robot

Haorong Li

doi:10.1117/12.3004043

11 October 2023 Autonomous navigation and path planning for Tiago robot

Haorong Li

Proceedings Volume 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023); 128005T (2023) https://doi.org/10.1117/12.3004043
Event: 6th International Conference on Computer Information Science and Application Technology (CISAT 2023), 2023, Hangzhou, China

Abstract

Efficient and adaptive path planning, navigation, and positioning for Tiago robots in dynamic environments are critical factors for successful operation. Despite existing research, a significant gap remains in achieving accurate path planning that can adapt to real-time changes in complex scenarios. This paper presents a novel approach for Tiago robot path planning by investigating and comparing the performance of three algorithms the ant colony algorithm, the bidirectional search A* algorithm, and the Dijkstra algorithm in a complex environment. Our key contribution is the development and implementation of an optimized bidirectional search A* algorithm, which demonstrates superior speed, efficiency, and directional accuracy compared to the other two methods. Our experimental results show a 20-fold increase in running speed when comparing the bidirectional search A* algorithm to the Dijkstra algorithm, highlighting its potential for meeting the autonomous navigation requirements of Tiago robots in intricate indoor environments.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Haorong Li "Autonomous navigation and path planning for Tiago robot", Proc. SPIE 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023), 128005T (11 October 2023); https://doi.org/10.1117/12.3004043

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available