Application of Path Planning Algorithms in Dynamic Nursing Home Environments for Autonomous Patrol Robots

• Item type: Symposium(1)
• 公開日: 2024-12-27
• タイトル: Application of Path Planning Algorithms in Dynamic Nursing Home Environments for Autonomous Patrol Robots
• タイトル / 言語: en
• タイトル: Application of Path Planning Algorithms in Dynamic Nursing Home Environments for Autonomous Patrol Robots
• 言語: eng
• 資源タイプ / 資源タイプ識別子: http://purl.org/coar/resource_type/c_5794
• 資源タイプ: conference paper
• 著者所属: Shibaura Institute of Technology
• 著者所属: Shibaura Institute of Technology
• 著者所属: Shibaura Institute of Technology
• 著者所属: Shibaura Institute of Technology
• 著者所属(英): en
• 著者所属(英): Shibaura Institute of Technology
• 著者所属(英): en
• 著者所属(英): Shibaura Institute of Technology
• 著者所属(英): en
• 著者所属(英): Shibaura Institute of Technology
• 著者所属(英): en
• 著者所属(英): Shibaura Institute of Technology
• 著者名: Liangwen, Wang; Yanzi, Li; Cheng, Feng; Midori, Sugaya
• 著者名(英): Liangwen, Wang; Yanzi, Li; Cheng, Feng; Midori, Sugaya
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: The global aging population is placing increasing demands on nursing homes. These facilities face significant challenges in maintaining safety and operational efficiency, particularly in dynamic environments where conditions frequently change. Navigating these complex environments is critical for autonomous patrol robots, especially when it comes to effective obstacle avoidance and efficient use of computational resources. This study aims to evaluate the effectiveness of three path planning algorithms―D* Lite, A*, and RRT―in enabling autonomous patrol robots to navigate the dynamic settings of nursing homes. We conducted a comparative analysis using a simulated nursing home environment that closely replicates real-world conditions. The analysis focused on four key metrics: path length, computation time, obstacle avoidance success rate, and path smoothness. Our evaluation shows that D* Lite is computationally efficient and generates smooth paths, but it struggles with obstacle avoidance and stability. A* performs better in obstacle avoidance but requires more computational resources in dynamic settings. RRT is slower but handles highly dynamic scenarios effectively. These findings provide valuable insights for optimizing path planning in autonomous patrol robots, addressing the operational challenges posed by the aging population.
• 論文抄録(英) / 内容記述タイプ: Other
• 論文抄録(英) / 内容記述: The global aging population is placing increasing demands on nursing homes. These facilities face significant challenges in maintaining safety and operational efficiency, particularly in dynamic environments where conditions frequently change. Navigating these complex environments is critical for autonomous patrol robots, especially when it comes to effective obstacle avoidance and efficient use of computational resources. This study aims to evaluate the effectiveness of three path planning algorithms―D* Lite, A*, and RRT―in enabling autonomous patrol robots to navigate the dynamic settings of nursing homes. We conducted a comparative analysis using a simulated nursing home environment that closely replicates real-world conditions. The analysis focused on four key metrics: path length, computation time, obstacle avoidance success rate, and path smoothness. Our evaluation shows that D* Lite is computationally efficient and generates smooth paths, but it struggles with obstacle avoidance and stability. A* performs better in obstacle avoidance but requires more computational resources in dynamic settings. RRT is slower but handles highly dynamic scenarios effectively. These findings provide valuable insights for optimizing path planning in autonomous patrol robots, addressing the operational challenges posed by the aging population.
• 書誌情報: Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform; 巻 2024, p. 1-6, 発行日 2024-12-27
• 出版者 / 言語: ja
• 出版者: 情報処理学会