New algorithm for multi-robot path planning in known environment
Joint Authors
Abd al-Dakhil, Wisam
al-Nasr Allah, Ahmad Miqdad
al-Rikabi, Hanan Ali
Source
Issue
Vol. 15, Issue 1 (31 Mar. 2020), pp.43-58, 16 p.
Publisher
University of Thi-Qar Research and Development Department
Publication Date
2020-03-31
Country of Publication
Iraq
No. of Pages
16
Main Subjects
Information Technology and Computer Science
Topics
Abstract EN
In this paper, solved a robot path planning problem in known environment using anew algorithm called the Fuzzy Probalistic Road Map Star PRM* algorithm.
In this algorithm, we have modeled the workplace including obstacles As fuzzy.
Here, we develop PRM algorithm, so that it can run in a fuzzy environment.
We assign a weight for each obstacle (fuzzy number) which represents the obstaclemeasures, meaning that whenever this weight is larger, the obstacle becomes more impassable (or more dangerous).
This algorithm has been designed for using by robot's movement in difficult areas (such as areas full with obstacles in which the robot requiresto crossover these obstacles to reach its goal).
By compare the FPRM* withnormal PRM we found that modeling the environment as fuzzy helps to improve the In this paper, solved a robot path planning problem in known environment using anew algorithm called the Fuzzy Probalistic Road Map Star PRM* algorithm.
In this algorithm, we have modeled the workplace including obstacles As fuzzy.
Here, we develop PRM algorithm, so that it can run in a fuzzy environment.
We assign a weight for each obstacle (fuzzy number) which represents the obstaclemeasures, meaning that whenever this weight is larger, the obstacle becomes more impassable (or more dangerous).
This algorithm has been designed for using by robot's movement in difficult areas (such as areas full with obstacles in which the robot requiresto crossover these obstacles to reach its goal).
By compare the FPRM* withnormal PRM we found that modeling the environment as fuzzy helps to improve the path.
American Psychological Association (APA)
Abd al-Dakhil, Wisam& al-Nasr Allah, Ahmad Miqdad& al-Rikabi, Hanan Ali. 2020. New algorithm for multi-robot path planning in known environment. University of Thi-Qar Journal،Vol. 15, no. 1, pp.43-58.
https://search.emarefa.net/detail/BIM-1232293
Modern Language Association (MLA)
Abd al-Dakhil, Wisam…[et al.]. New algorithm for multi-robot path planning in known environment. University of Thi-Qar Journal Vol. 15, no. 1 (Mar. 2020), pp.43-58.
https://search.emarefa.net/detail/BIM-1232293
American Medical Association (AMA)
Abd al-Dakhil, Wisam& al-Nasr Allah, Ahmad Miqdad& al-Rikabi, Hanan Ali. New algorithm for multi-robot path planning in known environment. University of Thi-Qar Journal. 2020. Vol. 15, no. 1, pp.43-58.
https://search.emarefa.net/detail/BIM-1232293
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 56-57
Record ID
BIM-1232293