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Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm
Joint Authors
Rekik, Chokri
Hassani, Imen
Maalej, Imen
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-06-11
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Currently, the path planning problem is one of the most researched topics in autonomous robotics.
That is why finding a safe path in a cluttered environment for a mobile robot is an important requirement for the success of any such mobile robot project.
In this work, a developed algorithm based on free segments and a turning point strategy for solving the problem of robot path planning in a static environment is presented.
The aim of the turning point approach is to search a safe path for the mobile robot, to make the robot moving from a starting position to a destination position without hitting obstacles.
This proposed algorithm handles two different objectives which are the path safety and the path length.
In addition, a robust control law which is called sliding mode control is proposed to control the stabilization of an autonomous mobile robot to track a desired trajectory.
Finally, simulation results show that the developed approach is a good alternative to obtain the adequate path and demonstrate the efficiency of the proposed control law for robust tracking of the mobile robot.
American Psychological Association (APA)
Hassani, Imen& Maalej, Imen& Rekik, Chokri. 2018. Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1206109
Modern Language Association (MLA)
Hassani, Imen…[et al.]. Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm. Mathematical Problems in Engineering No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1206109
American Medical Association (AMA)
Hassani, Imen& Maalej, Imen& Rekik, Chokri. Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1206109
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1206109