Different Path Planning Techniques for an Indoor Omni-Wheeled Mobile Robot: Experimental Implementation, Comparison and Optimization

摘要

Omni-wheeled mobile robots (Omni WMRs) are commonly used in indoor navigation applications like surveillance, search and rescue, and autonomous transportation. They are always characterized by their versatility, mobility and high payload. This paper presents the mechatronic design, low-level control and high-level control of an indoor 4 Omni-Wheeled Mobile Robot (4OWMR). Since autonomy and path planning are research necessities for WMRs, four heuristic and probabilistic path-planning techniques are chosen for experimental implementation. The selected techniques are PRM (Probabilistic Roadmaps), RRT (Rapidly exploring Random Tree), RRTSTAR (RRT*), and ASTAR (A*) algorithms. The proposed environments are static, expressed by maps with unknown nodes and obstacles. Local path planning is implemented with simultaneous localization and mapping (SLAM). Path planning techniques are programmed, and the obtained paths are optimized by a multi-objective genetic algorithm technique to ensure the shortest path and its smoothness. The optimized paths are deployed to the 4OWMR. The obtained results are compared in terms of travel time, travel distance, average velocity and convergence error. A ranking technique is utilized to rank the obtained results and show the most preferred technique in terms of energy consumption and convergence accuracy in addition to the overall ranking. Experimental results showed that the Hybrid A* algorithm produced the best-generated paths with respect to other techniques.