Online Navigation Method for Mobile Robot Based on Thermal Compliance

The online navigation in unknown and dynamic environments is a crucial challenge for mobile robots. In this article, a novel online navigation method based on thermal compliance is proposed. The fundamental concept is that the optimal navigation path corresponds to the path with minimum thermal resi...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2024-10, Vol.71 (10), p.12674-12684
Main Authors: Wan, Shaoke, Wang, Yunlong, Qi, Pengyuan, Fang, Yuanyang, Li, Xiaohu
Format: Article
Language:English
Subjects:
Boundary value problems
Conduction heating
Conductive heat transfer
Conductivity
Heat conduction
Heat conductivity
Heat sinks
Heating systems
Mobile robots
Navigation
online navigation
Optimal control
optimal path
Path planning
Real time
Robot control
Robot dynamics
Robots
Robust control
Thermal analysis
thermal compliance
Thermal conductivity
Thermal resistance
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Summary:The online navigation in unknown and dynamic environments is a crucial challenge for mobile robots. In this article, a novel online navigation method based on thermal compliance is proposed. The fundamental concept is that the optimal navigation path corresponds to the path with minimum thermal resistance during steady-state heat conduction. This objective can be achieved by continuously adding high thermal conductivity materials from the heat source to the heat sink. To determine the optimal laying direction of high thermal conductivity material, which also represents the optimal motion direction of mobile robot, dichotomy is employed. In order to generate feasible trajectories in real-time, the state space of mobile robot is discretized, and a set of motion primitives are generated by solving two-point boundary value optimal control problems. Simulations and experiments demonstrate that this proposed method exhibits robustness in terms of finding paths within unknown and dynamic environments without being trapped in local minima.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2024.3360608