Utilization of Tabu search heuristic rules in sampling-based motion planning

Weria Khaksar, Tang Sai Hong, Khairul Salleh Mohamed Sahari, Mansoor Khaksar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Path planning in unknown environments is one of the most challenging research areas in robotics. In this class of path planning, the robot acquires the information from its sensory system. Sampling-based path planning is one of the famous approaches with low memory and computational requirements that has been studied by many researchers during the past few decades. We propose a sampling-based algorithm for path planning in unknown environments using Tabu search. The Tabu search component of the proposed method guides the sampling to find the samples in the most promising areas and makes the sampling procedure more intelligent. The simulation results show the efficient performance of the proposed approach in different types of environments. We also compare the performance of the algorithm with some of the well-known path planning approaches, including Bug1, Bug2, PRM, RRT and the Visibility Graph. The comparison results support the claim of superiority of the proposed algorithm.

Original languageEnglish
Title of host publicationInternational Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014
PublisherAmerican Institute of Physics Inc.
Volume1660
ISBN (Electronic)9780735413047
DOIs
Publication statusPublished - 15 May 2015
EventInternational Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014 - Penang, Malaysia
Duration: 28 May 201430 May 2014

Other

OtherInternational Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014
CountryMalaysia
CityPenang
Period28/05/1430/05/14

Fingerprint

trajectory planning
planning
sampling
robotics
robots
visibility
requirements
simulation

All Science Journal Classification (ASJC) codes

  • Physics and Astronomy(all)

Cite this

Khaksar, W., Hong, T. S., Mohamed Sahari, K. S., & Khaksar, M. (2015). Utilization of Tabu search heuristic rules in sampling-based motion planning. In International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014 (Vol. 1660). [090033] American Institute of Physics Inc.. https://doi.org/10.1063/1.4915877
Khaksar, Weria ; Hong, Tang Sai ; Mohamed Sahari, Khairul Salleh ; Khaksar, Mansoor. / Utilization of Tabu search heuristic rules in sampling-based motion planning. International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014. Vol. 1660 American Institute of Physics Inc., 2015.
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Khaksar, W, Hong, TS, Mohamed Sahari, KS & Khaksar, M 2015, Utilization of Tabu search heuristic rules in sampling-based motion planning. in International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014. vol. 1660, 090033, American Institute of Physics Inc., International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014, Penang, Malaysia, 28/05/14. https://doi.org/10.1063/1.4915877

Utilization of Tabu search heuristic rules in sampling-based motion planning. / Khaksar, Weria; Hong, Tang Sai; Mohamed Sahari, Khairul Salleh; Khaksar, Mansoor.

International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014. Vol. 1660 American Institute of Physics Inc., 2015. 090033.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Khaksar W, Hong TS, Mohamed Sahari KS, Khaksar M. Utilization of Tabu search heuristic rules in sampling-based motion planning. In International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014. Vol. 1660. American Institute of Physics Inc. 2015. 090033 https://doi.org/10.1063/1.4915877