Content Comparison

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• 1. Overview

• 2. Landmark Navigation

  • Block Diagram
    

• 3. Indoor Map Representation

  • IndoorGML - Indoor Geographic Markup Language
    
  • Cellular Space Model
  • Map generation Tool
    

• 4. Path Planning

  • Mobile Platform Model
    
  • Algorithms

• 5. Simulation and Results

  • Simulation Using VREP
    
  • Analysis
  • Prototype
  • Future work
    

• References

   

1. Overview

2. Landmark Navigation

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Kinematic Constraints

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Algorithm

A* Algorithm	Time Enhanced A* Algorithm

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	Multimedia name sim_vrep_01.mp4

Prototypes

Image Removed	Image Removed
Image Removed	Multimedia name 4wheel_Proto.mp4

Future

AnalysisAnalysis

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• Temporal Analysis
  
  Test 1: Example of an overtaking. Two robots, 1 and 2, follow in the same direction with the same speed. Vehicle 2 overtakes the vehicle 1.

  Test2: Example of two paths without intersections.

  Test3: Example of the intersection of two Robots, followed by the passage and overtake of vehicle 2 by the vehicle 1.

  
  Image Modified

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• Vehicle Crossing  
  

  Using A*	Using Time Enhanced A*
  Image Added	Image Added

   

• The implemented algorithms handles these problems in different ways. The Time enhanced A* Algorithm considers path planning and coordination simultaneously.
• The path of each vehicle is calculated according to the paths of the other vehicles. In this sense, the coordination between robots is ensured.
• The vehicles’ path is restricted to the predefined segments, while the Time enhanced A* gives the vehicle the flexibility to navigate in all free cells.
• Considering that the Time enhanced A* Algorithm includes time and movements of the other vehicles on their paths’ calculation, overtaking is allowed.
• It’s possible to conclude that the Time enhanced A* Algorithm is more flexible in the generation of paths, because the calculated paths can be adjusted according to their cost, obstacles and the other Robot movements

Prototypes

Image Added	Image Added
Image Added	Multimedia name 4wheel_Proto.mp4

Future

References

1 U.S. Government. National Space-Based Positioning, Navigation, and Timing Coordination Office’s GPS information, 2010.

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