دراسة خوارزميات تتبع مسار عربة و تحليله و تصحيحه لتجنب العوائق
Other Title(s)
Studying and analysis of path following algorithms for robots and its correction for obstacle avoidance
Joint Authors
Source
مجلة جامعة دمشق للعلوم الهندسية
Issue
Vol. 30, Issue 1 (30 Jun. 2014), pp.225-242, 18 p.
Publisher
Publication Date
2014-06-30
Country of Publication
Syria
No. of Pages
18
Main Subjects
Information Technology and Computer Science
Abstract EN
In this research a review of methods needed to make a vehicle follow a predefined path has been done where the vehicle can follow the path and return to it if any deviation happened.
The following Algorithms have been applied to follow the path: 1- Follow The Carrot [1] Algorithm 2- Pure Pursuit [2] Algorithm 3- Follow The Past [3] Algorithm The implementation of these algorithms has been done by using statistical analysis software (MATLAB) to make a robotic vehicle movement simulator that uses algorithms to follow a predefined path (recorded path).
We have found as a result that the (Follow the Carrot) algorithm is simple for understanding and applying, on the other hand it causes larger errors in position and larger deviation from the path.
Also in the (Follow the Carrot) algorithm, the vehicle tends to take short cuts and moves directly towards the goal point instead of moving on path curves.
Pure Pursuit algorithm also suffers from the same problems, but not in the same critical way, where we can get better proportion results .Whereas the (Follow the Past) algorithm achieves a perfect path tracking for applying certain conditions and study parameters.
American Psychological Association (APA)
العلان، نبيلة وغانم، رزق. 2014. دراسة خوارزميات تتبع مسار عربة و تحليله و تصحيحه لتجنب العوائق. مجلة جامعة دمشق للعلوم الهندسية،مج. 30، ع. 1، ص ص. 225-242.
https://search.emarefa.net/detail/BIM-743172
Modern Language Association (MLA)
العلان، نبيلة وغانم، رزق. دراسة خوارزميات تتبع مسار عربة و تحليله و تصحيحه لتجنب العوائق. مجلة جامعة دمشق للعلوم الهندسية مج. 30، ع. 1 (2014)، ص ص. 225-242.
https://search.emarefa.net/detail/BIM-743172
American Medical Association (AMA)
العلان، نبيلة وغانم، رزق. دراسة خوارزميات تتبع مسار عربة و تحليله و تصحيحه لتجنب العوائق. مجلة جامعة دمشق للعلوم الهندسية. 2014. مج. 30، ع. 1، ص ص. 225-242.
https://search.emarefa.net/detail/BIM-743172
Data Type
Journal Articles
Language
Arabic
Notes
يتضمن مراجع ببليوجرافية : ص. 241
Record ID
BIM-743172