Voronoi Path Planning Based on Improved Skeleton Extraction

doi:10.3901/JME.2020.13.138

Abstract

Abstract: An improved skeleton extraction algorithm is proposed to solve the problems that raster map-based path planning algorithms the robot navigation cannot meet the requirements of real-time and accuracy simultaneously, and robot storage is occupied due to the globle path generated by the original Voronoi diagram algorithm is too bloated and the route generated by the existing method of skeleton extraction is too redundant. Firstly, binarize the raster map with known prior information and carry out corrosion and expansion pretreatment, regenerating a new leaner skeleton. Then, the path of navigation planning with improved cubic spline is smoothed; the local path planner DWA algorithm is combined to realize robot navigation. The simulation and real environment experiments results show that the simplified skeleton is more concise than the original Voronoi diagram and the existing skeleton, the optimized path is smoother, which improves the stability and efficiency of the motion of the mobile robot, and guides the robot to move in the safest way.

Key words: Voronoi algorithm, binarize the raster map, corrosion and expansion pretreatment, streamline skeleton, smooth processing

CLC Number:

TP249

JIANG Lin, LI Jun, MA Xianzhong, NIE Wenkang, ZHU Jianyang, LEI Bin. Voronoi Path Planning Based on Improved Skeleton Extraction[J]. Journal of Mechanical Engineering, 2020, 56(13): 138-148.

References

[1] 侯欣宾. 太阳能发电卫星白皮书[M]. 北京:中国宇航出版社,2013. HOU Xinbin. White paper on solar power satellites[M]. Beijing:China Aerospace Press,2013.
[2] 董秀成,高建,张海霞. 能源战略与政策[M]. 北京:科学出版社,2016 DONG Xiucheng,GAO Jian,ZHANG Haixia. Energy strategy and policy[M]. Beijing:Science Press,2016.
[3] 刘源,肖任勤,韩德东. 飞行器主承力结构的轻量化设计[J]. 光学精密工程,2015,23(11):85-91. LIU Yuan,XIAO Renqin,HAN Dedong. Lightweight design of primary force-taking structures for spacecrafts[J]. Optics and Precision Engineering,2015,23(11):85-91.
[4] 马鑫. 复杂约束下的卫星结构机构设计与动力学仿真分析[D]. 北京:中国科学院空间科学与应用研究中心,2015. MA Xin. The design and dynamics simulation of satellite structure and mechanism with complex constraints[D]. Beiing:National Space Science Center,2015.
[5] SANTIAGO-PROWALD J,BAIER H. Advances in deployable structures and surfaces for large apertures in space[J]. Ceas Space Journal,2013,5(3):89-115.
[6] GLASER P E. Power from the sun:Its future[J]. Sc-ience,1968,162(3856):857-861.
[7] MANKINS J C. New directions for space solar power[J]. Acta Astronautica,2009,65(1-2):146-156.
[8] SASAKI S,TANAKA K,HIGUCHI K,et al. A new concept of solar power satellite:Tethered-SPS[J]. Acta Astronautica,2007,60(3):153-165.
[9] SEBOLDT W,KLIMKE M,LEIPOLD M,et al. Eur-opean sail tower SPS concept[J]. Acta Astronautica,2001,48(5):785-792.
[10] ODA M. Stepwise development of SSPS,NASDA's current study status of the IGW class operational SSPS and its precursors[C]//International Astronautical Con-gress of the International Astronautical Federation. 2013.
[11] 侯欣宾,王立. 空间太阳能电站技术发展现状及展望[J]. 中国航天,2015(2):12-15. HOU Xinbin,WANG Li. Status and prospect of space solar power station technology[J]. Aerospace China 2015(2):12-15.
[12] 侯欣宾,王立,张兴华. 多旋转关节空间太阳能电站概念方案设计[J]. 宇航学报,2015,36(11):1332-1338. HOU Xinbin,WANG Li,ZHANG Xinghua. Concept de-sign on multi-rotary joints SPS[J]. Journal of Astr-onautics,2015,36(11):1332-1338.
[13] 杨阳,段宝岩,黄进. OMEGA型空间太阳能电站聚光系统设计[J]. 中国空间科学技术,2014,34(5):18-23. YANG yang,DUAN Baoyan,HUANG Jin. SSPS-OMEGA:A new concentrator system for SSPS[J]. Chinese Space Science and Technology,2014,34(5):18-23.
[14] TIBERT G. Deployable tensegrity structures for space applications[D]. Stockholm,Sweden:Royal Institute of Technology Department of Mechanics,2002.
[15] BELVIN W K,HERSTROM C L,EDIGHOFFER H H. Quasistatic shape adjustment of a 15-meter-diameter space antenna[J]. AIAA Journal of Spacecraft & Rockets,1989,26(3):129-136.
[16] 吴国兴. 设计一个月球基地的居住舱[J]. 太空探索,2006(11):42-45. WU Guoxing. Designing accommodation for a lunar base[J]. Space Exploration,2006(11):42-45.
[17] 王燕. 全球首个充气式活动太空舱成功展开及其影响分析[J]. 中国航天,2016(7):16-22. WANG Yan. Successful deployment of the world's first inflatable active space capsule and its impact analysis[J]. China Aerospace,2016(7):16-22.
[18] 张琪. 环形桁架式可展开天线机构的分析与优化研究[D]. 哈尔滨:哈尔滨工业大学,2017. ZHANG Qi. Analysis and optimization of annular truss deployable antenna mechanism[D]. Harbin:Harbin Institute of Technology,2017.
[19] 郭宏伟,刘荣强,邓宗全. 索杆铰接式伸展臂动力学建模与分析[J]. 机械工程学报,2011,47(9):66-71. GUO Hongwei,LIU Rongqiang,DENG Zongquan. Dyn-amic modeling and analysis of cable-struture deployable articulated mast[J],Journal of Mechanical Engineering,2011,47(9):66-71.