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Performance evaluation of vision based path planning for dynamic real-time scenarios of mobile robot

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Abstract

With the wide usage of mobile robots in industries, there is a need for efficient path planning algorithms under dynamic environments. Hence this paper presents heuristic-based path planning algorithms like the A* algorithm, Rapidly-Exploring Random Trees (RRT) algorithm, and Probabilistic Roadmaps (PRM) algorithm to navigate robots in dynamic environments. The main aim of this work is to utilize the feedback from the overhead camera to distinguish both static and dynamic objects placed in the environment and use this information to calculate the optimal waypoints. Further experimental analysis includes varying various parameters like start and goal points, the velocity of robot, collision range between robot and obstacle, and different obstacle trajectories to validate the performance in dynamic real-time scenarios. The effectiveness of the proposed methodology is evaluated by measuring the path length, simulation time, absolute error, and time taken by the robot to reach the goal. In addition, statistical analysis for different algorithms have been evaluated. The experimental results were tested in real-time using Turtlebot2i mobile robot and it was inferred that RRT performed better with binary map and PRM had better results with real-time map in dynamic environments.

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Acknowledgements

The authors are immensely grateful to the authorities of Birla Institute of Science and Technology Pilani, Dubai campus for their support throughout this research work.

Funding

This research received no specific grant from any funding agency, commercial or not-for-profit sectors.

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Authors and Affiliations

  1. Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science, Pilani, Dubai Campus , P.O. Box. 345 055, Dubai, United Arab Emirates

    Abhilasha Singh & V. Kalaichelvi

  2. Department of Mechanical Engineering, Birla Institute of Technology and Science, Pilani, Dubai Campus, P.O. Box. 345 055, Dubai, United Arab Emirates

    Yaamunan Sridhar & R. Karthikeyan

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  1. Abhilasha Singh
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  2. Yaamunan Sridhar
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  3. V. Kalaichelvi
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Contributions

For example: AS and YS conceived and designed the study. AS and YS conducted data gathering. AS performed statistical analyses. AS wrote the article. VK and RK done overall project administration. VK performed editing and reviewing. RK designed the problem statement.

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Correspondence to V. Kalaichelvi.

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Singh, A., Sridhar, Y., Kalaichelvi, V. et al. Performance evaluation of vision based path planning for dynamic real-time scenarios of mobile robot. Multimed Tools Appl (2024). https://doi.org/10.1007/s11042-024-19267-9

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  • DOI: https://doi.org/10.1007/s11042-024-19267-9

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