Title :
A Tabu Search-based Approach for Online Motion Planning
Author :
Masehian, Ellips ; Amin-Naseri, M.R.
Author_Institution :
Tarbiat Modares Univ., Tehran
Abstract :
In this paper an online motion planner is developed to govern the movements of mobile robots during their explorations. By using the Tabu search meta-heuristic method, a set of tabu (i.e., forbidden) moves are defined in each iteration of the search to confine the robot´s navigable locations, and guide it toward the goal. Based on range-sensor readings and the cost function value defined for each ray, the robot is attracted to certain obstacle vertices, and moves along a path consisted of lines connecting the vertices of different obstacles. Hence, the resulting trajectory has a local shortest path quality similar to the visibility graph roadmap. The planner also takes advantage of random moves when trapped in dead-ends. Different experiments have shown the efficiency of this approach.
Keywords :
collision avoidance; mobile robots; motion control; navigation; search problems; cost function; dead end; local shortest path quality; mobile robot movements; obstacle vertices; online motion planning; random moves; range sensor readings; robot exploration; robot navigable location; robot trajectory; tabu search metaheuristic method; visibility graph roadmap; Cost function; Heuristic algorithms; Iterative algorithms; Joining processes; Mobile robots; Motion planning; Navigation; Optimization methods; Robot motion; Robot sensing systems;
Conference_Titel :
Industrial Technology, 2006. ICIT 2006. IEEE International Conference on
Conference_Location :
Mumbai
Print_ISBN :
1-4244-0726-5
Electronic_ISBN :
1-4244-0726-5
DOI :
10.1109/ICIT.2006.372662