Skip to main content
Book cover

International Symposium on Ubiquitous Networking

UNet 2018: Ubiquitous Networking pp 273–280Cite as

RRT Path Planning and Morphological Segmentation Based Navigation for a Tetrapod Robot

  • 694 Accesses

Part of the Lecture Notes in Computer Science book series (LNCCN,volume 11277)

Abstract

This article will establish the physical design of a tetrapod robot, highlighting its own characteristics of low-level three-dimensional movement to move from one point to another. The navigation system was also examined in environments not defined from a top-down perspective, making the analysis and processing of the images with the purpose of avoiding collisions between the robot and static obstacles, and using probabilistic techniques and partial information on the environment, RRT generate paths that are less artificial.

Keywords

  • Quadruped robot
  • Path planning
  • RRT
  • Obstacle avoidance

This is a preview of subscription content, access via your institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/978-3-030-02849-7_25
  • Chapter length: 8 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
eBook
USD   59.99
Price excludes VAT (USA)
  • ISBN: 978-3-030-02849-7
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book
USD   79.99
Price excludes VAT (USA)
Learn about institutional subscriptions
Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.
Fig. 6.
Fig. 7.

References

  1. Menéndez, C.: Navegación de robots autónomos en entronos dinámicos (2012)

    Google Scholar 

  2. Fernández, J.F., Barrientos, T.A.: Análisis, desarrollo y evaluación de modos de marcha para un robot hexápodo (2016)

    Google Scholar 

  3. Bertozzi, M., Broggi, A., Fascioli, A.: A stereo vision system for real-time automotive obstacle detection. In: International Conference on Image Processing, vol. 1, pp. 681–684 (1996). https://doi.org/10.1109/icip.1996.560970

  4. Aguilar, W.G., Salcedo, V.S., Sandoval, D.S., Cobeña, B.: Developing of a video-based model for UAV autonomous navigation. In: Barone, D.A.C., Teles, E.O., Brackmann, C.P. (eds.) LAWCN 2017. CCIS, vol. 720, pp. 94–105. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-71011-2_8

    CrossRef  Google Scholar 

  5. Aguilar, W.G., Casaliglla, V.P., Pólit, J.L.: Obstacle avoidance based-visual navigation for micro aerial vehicles. Electronics 6(1), 10 (2017)

    CrossRef  Google Scholar 

  6. Aguilar, W.G., Casaliglla, V.P., Pólit, J.L., Abad, V., Ruiz, H.: Obstacle avoidance for flight safety on unmanned aerial vehicles. In: Rojas, I., Joya, G., Catala, A. (eds.) IWANN 2017. LNCS, vol. 10306, pp. 575–584. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-59147-6_49

    CrossRef  Google Scholar 

  7. Alvarez, P.Q., Antonio, J., Estrada, R., Fernández, A.A., Torres, J.G.R.: Técnicas para evasión de obstáculos en Robótica Móvil. 1 (2010)

    Google Scholar 

  8. Karaman, S., Frazzoli, E.: Optimal kinodynamic motion planning using incremental sampling-based methods. In: Proceedings of the IEEE Conference Decision Control, pp. 7681–7687 (2010). https://doi.org/10.1109/cdc.2010.5717430

  9. Borenstein, J., Koren, Y.: The vector field histogram: fast obstacle avoidance for mobile robots. IEEE Trans. Robot. Autom. 7, 278–288 (1991). https://doi.org/10.1109/70.88137

    CrossRef  Google Scholar 

  10. Barraquand, J., Kavraki, L., Latombe, J.-C., Motwani, R., Li, T.-Y., Raghavan, P.: A random sampling scheme for planning 16, 759–774 (1997)

    Google Scholar 

  11. Aguilar, W.G., Angulo, C.: Real-time video stabilization without phantom movements for micro aerial vehicles. EURASIP J. Image Video Process. 2014(1), 46 (2014)

    CrossRef  Google Scholar 

  12. Aguilar, W.G., Angulo, C.: Real-time model-based video stabilization for microaerial vehicles. Neural Process. Lett. 43(2), 459–477 (2016)

    CrossRef  Google Scholar 

  13. Aguilar, W.G., et al.: Pedestrian detection for UAVs using cascade classifiers and saliency maps. In: Rojas, I., Joya, G., Catala, A. (eds.) IWANN 2017. LNCS, vol. 10306, pp. 563–574. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-59147-6_48

    CrossRef  Google Scholar 

  14. Aguilar, W.G., et al.: Cascade classifiers and saliency maps based people detection. In: De Paolis, L.T., Bourdot, P., Mongelli, A. (eds.) AVR 2017. LNCS, vol. 10325, pp. 501–510. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-60928-7_42

    CrossRef  Google Scholar 

  15. Ortiz, O., Santana, A.: Planificación de caminos para Robots en Realidad Virtual (2017)

    Google Scholar 

  16. Siegwart, R., Nourbakhsh, I.R.: Introduction to Autonomous Mobile Robots. MIT Press, Cambridge (2004)

    Google Scholar 

  17. Zielinska, T., Heng, J.: Mechanical design of multifunctional quadruped. Mech. Mach. Theory 38, 463–478 (2003). https://doi.org/10.1016/S0094-114X(03)00004-1

    CrossRef  MATH  Google Scholar 

  18. Matthies, L., et al.: Computer vision on Mars. Int. J. Comput. Vis. 75, 67–92 (2007). https://doi.org/10.1007/s11263-007-0046-z

    CrossRef  Google Scholar 

  19. Antipov, V., Kokovkina, V., Kirnos, V., Priorov, A.: Computer vision system for recognition and detection of color patterns in real-time task of robot control. In: 2017 Systems of Signal Synchronization, Generating and Processing in Telecommunications Sink 2017 (2017). https://doi.org/10.1109/sinkhroinfo.2017.7997496

  20. Schwartz, J.T., Sharir, M.: On the “piano movers” problem. II. General techniques for computing topological properties of real algebraic manifolds. Adv. Appl. Math. 4, 298–351 (1983). https://doi.org/10.1016/0196-8858(83)90014-3

    CrossRef  MathSciNet  MATH  Google Scholar 

  21. Brooks, R.A., Lozano-Pérez, T.: A subdivision algorithm in configuration space for findpath with rotation. IEEE Trans. Syst. Man. Cybern. SMC-15, 224–233 (1985). https://doi.org/10.1109/tsmc.1985.6313352

    CrossRef  Google Scholar 

  22. Dúnlaing, C., Sharir, M., Yap, C.K.: Retraction: a new approach to motion-planning. In: Proceedings of the Fifteenth Annual ACM Symposium on Theory of Computing, pp. 207–220. ACM, New York (1983)

    Google Scholar 

  23. Donald, B.R.: A search algorithm for motion planning with six degrees of freedom. Artif. Intell. 31, 295–353 (1987). https://doi.org/10.1016/0004-3702(87)90069-5

    CrossRef  MATH  Google Scholar 

  24. LaValle, S.M.: Rapidly-exploring random trees: a new tool for path planning. In: vol. 129, pp. 98–11 (1998). 10.1.1.35.1853

    Google Scholar 

  25. Aguilar, W.G., Rodríguez, G.A., Álvarez, L., Sandoval, S., Quisaguano, F., Limaico, A.: Visual SLAM with a RGB-D camera on a quadrotor UAV using on-board processing. In: Rojas, I., Joya, G., Catala, A. (eds.) IWANN 2017. LNCS, vol. 10306, pp. 596–606. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-59147-6_51

    CrossRef  Google Scholar 

  26. Aguilar, W.G., Rodríguez, G.A., Álvarez, L., Sandoval, S., Quisaguano, F., Limaico, A.: Real-time 3D modeling with a RGB-D camera and on-board processing. In: De Paolis, L.T., Bourdot, P., Mongelli, A. (eds.) AVR 2017. LNCS, vol. 10325, pp. 410–419. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-60928-7_35

    CrossRef  Google Scholar 

  27. Aguilar, W.G., Rodríguez, G.A., Álvarez, L., Sandoval, S., Quisaguano, F., Limaico, A.: On-board visual SLAM on a UGV using a RGB-D camera. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds.) ICIRA 2017. LNCS (LNAI), vol. 10464, pp. 298–308. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-65298-6_28

    CrossRef  Google Scholar 

  28. Aguilar, W.G., Morales, S.G.: 3D environment mapping using the Kinect V2 and path planning based on RRT algorithms. Electronics 5(4), 70 (2016)

    CrossRef  Google Scholar 

  29. Aguilar, W.G., Morales, S., Ruiz, H., Abad, V.: RRT* GL based optimal path planning for real-time navigation of UAVs. In: Rojas, I., Joya, G., Catala, A. (eds.) IWANN 2017. LNCS, vol. 10306, pp. 585–595. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-59147-6_50

    CrossRef  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, Jessica Caballeros, David Segarra & Patricio Castro

  2. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

Authors
  1. Wilbert G. Aguilar
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jessica Caballeros
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. David Segarra
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Patricio Castro
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. University of Carthage, Carthage, Tunisia

    Noureddine Boudriga

  2. King Abdullah University of Science and Technology, Thuwal, Saudi Arabia

    Prof. Dr. Mohamed-Slim Alouini

  3. University of Carthage, Carthage, Tunisia

    Slim Rekhis

  4. Hassan II University, Casablanca, Morocco

    Prof. Dr. Essaid Sabir

  5. KU Leuven, Leuven, Belgium

    Sofie Pollin

Rights and permissions

Reprints and Permissions

Copyright information

© 2018 Springer Nature Switzerland AG

About this paper

Verify currency and authenticity via CrossMark

Cite this paper

Aguilar, W.G., Caballeros, J., Segarra, D., Castro, P. (2018). RRT Path Planning and Morphological Segmentation Based Navigation for a Tetrapod Robot. In: Boudriga, N., Alouini, MS., Rekhis, S., Sabir, E., Pollin, S. (eds) Ubiquitous Networking. UNet 2018. Lecture Notes in Computer Science(), vol 11277. Springer, Cham. https://doi.org/10.1007/978-3-030-02849-7_25

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-02849-7_25

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-02848-0

  • Online ISBN: 978-3-030-02849-7

  • eBook Packages: Computer ScienceComputer Science (R0)