TY - GEN
T1 - Path Planning Algorithm of Mobile Robot Based on Dichotomy of Thermal Conduction Topology Optimization
AU - Fang, Yuanyang
AU - Qi, Pengyuan
AU - Li, Baotong
AU - Li, Xiaohu
N1 - Publisher Copyright:
© 2021, Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - To solve the problem of low efficiency and unstable results of the path planning algorithm based on topology optimization, a dichotomy-based heat conduction topology optimization mobile robot path planning algorithm is proposed. First, considering the analogy between the heat transferring path under steady state and the mobile robot navigation path, the path planning problem is equivalent to the heat conduction topology optimization problem, and a path planning method based on the heat conduction topology optimization is constructed. Secondly, according to the principle of minimizing the thermal compliance across the analysis domain in each growth step, the optimal growth direction of the cooling channel is determined. Third, define the 8 search directions of the mobile robot's motion, construct the cooling channel material library in the corresponding direction, and the dichotomy can be used to solve the problem quickly. Finally, through simulation and comparison experiments in two environments, the results show that the path planning algorithm based on heat conduction topology optimization has strong real-time performance, stable results, and has advantages in complex environments.
AB - To solve the problem of low efficiency and unstable results of the path planning algorithm based on topology optimization, a dichotomy-based heat conduction topology optimization mobile robot path planning algorithm is proposed. First, considering the analogy between the heat transferring path under steady state and the mobile robot navigation path, the path planning problem is equivalent to the heat conduction topology optimization problem, and a path planning method based on the heat conduction topology optimization is constructed. Secondly, according to the principle of minimizing the thermal compliance across the analysis domain in each growth step, the optimal growth direction of the cooling channel is determined. Third, define the 8 search directions of the mobile robot's motion, construct the cooling channel material library in the corresponding direction, and the dichotomy can be used to solve the problem quickly. Finally, through simulation and comparison experiments in two environments, the results show that the path planning algorithm based on heat conduction topology optimization has strong real-time performance, stable results, and has advantages in complex environments.
KW - Dichotomy
KW - Heat conduction
KW - Path planning
KW - Single-step growth
KW - Topology optimization
UR - https://www.scopus.com/pages/publications/85118146745
U2 - 10.1007/978-3-030-89092-6_58
DO - 10.1007/978-3-030-89092-6_58
M3 - 会议稿件
AN - SCOPUS:85118146745
SN - 9783030890919
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 638
EP - 648
BT - Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings
A2 - Liu, Xin-Jun
A2 - Nie, Zhenguo
A2 - Yu, Jingjun
A2 - Xie, Fugui
A2 - Song, Rui
PB - Springer Science and Business Media Deutschland GmbH
T2 - 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021
Y2 - 22 October 2021 through 25 October 2021
ER -