An algorithm for path planning with polygon obstacles avoidance based on the virtual circle tangents
Joint Authors
Rashid, Abd al-Muttalib T.
Ibrahim, Zahra Y.
Marhun, Ali F.
Source
The Iraqi Journal of Electrical and Electronic Engineering
Issue
Vol. 12, Issue 2 (31 Dec. 2016), pp.221-234, 14 p.
Publisher
University of Basrah College of Engineering
Publication Date
2016-12-31
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Information Technology and Computer Science
Abstract EN
In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles.
The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles.
A new method for searching the shortest path from source to target is suggested.
Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state.
The introduced method is compared with two other algorithms to study its performance.
American Psychological Association (APA)
Ibrahim, Zahra Y.& Rashid, Abd al-Muttalib T.& Marhun, Ali F.. 2016. An algorithm for path planning with polygon obstacles avoidance based on the virtual circle tangents. The Iraqi Journal of Electrical and Electronic Engineering،Vol. 12, no. 2, pp.221-234.
https://search.emarefa.net/detail/BIM-760918
Modern Language Association (MLA)
Ibrahim, Zahra Y.…[et al.]. An algorithm for path planning with polygon obstacles avoidance based on the virtual circle tangents. The Iraqi Journal of Electrical and Electronic Engineering Vol. 12, no. 2 (2016), pp.221-234.
https://search.emarefa.net/detail/BIM-760918
American Medical Association (AMA)
Ibrahim, Zahra Y.& Rashid, Abd al-Muttalib T.& Marhun, Ali F.. An algorithm for path planning with polygon obstacles avoidance based on the virtual circle tangents. The Iraqi Journal of Electrical and Electronic Engineering. 2016. Vol. 12, no. 2, pp.221-234.
https://search.emarefa.net/detail/BIM-760918
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 234
Record ID
BIM-760918
