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Prediction-based path planning with obstacle avoidance in dynamic target environment
Joint Authors
Rashid, Abd al-Muttalib T.
Ibrahim, Zahra Y.
Marhun, Ali F.
Source
Basrah Journal for Engineering Sciences
Issue
Vol. 16, Issue 2 (31 Dec. 2016), pp.48-60, 13 p.
Publisher
University of Basrah College of Engineering
Publication Date
2016-12-31
Country of Publication
Iraq
No. of Pages
13
Main Subjects
Abstract EN
In this paper, a new algorithm for mobile robot navigation and polygonal obstacles avoidance in dynamic target environment is introduced.
In the dynamic target path planning the agent (robot) trying to reach a moving target in minimum path cost.
The introduced algorithm which called Prediction-based path planning with obstacle avoidance in dynamic target environment planning a path to a moving target by predicting the next target location, then computing a path from the robot current location to the predicted target location representing each visible obstacle by the smallest circle that enclosing the polygon obstacle, then determine the visible tangents between the robot and the circular obstacle that intersect its shortest path and compute the shortest path.
Three target movement scenarios were suggested and tested in different environment conditions.
The results show that the target was reached in all scenarios and under all environment conditions with good path cost.
American Psychological Association (APA)
Ibrahim, Zahra Y.& Rashid, Abd al-Muttalib T.& Marhun, Ali F.. 2016. Prediction-based path planning with obstacle avoidance in dynamic target environment. Basrah Journal for Engineering Sciences،Vol. 16, no. 2, pp.48-60.
https://search.emarefa.net/detail/BIM-724641
Modern Language Association (MLA)
Ibrahim, Zahra Y.…[et al.]. Prediction-based path planning with obstacle avoidance in dynamic target environment. Basrah Journal for Engineering Sciences Vol. 16, no. 2 (2016), pp.48-60.
https://search.emarefa.net/detail/BIM-724641
American Medical Association (AMA)
Ibrahim, Zahra Y.& Rashid, Abd al-Muttalib T.& Marhun, Ali F.. Prediction-based path planning with obstacle avoidance in dynamic target environment. Basrah Journal for Engineering Sciences. 2016. Vol. 16, no. 2, pp.48-60.
https://search.emarefa.net/detail/BIM-724641
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 60
Record ID
BIM-724641