On-Line Path-Planning Algorithm for Nonholonomic Mobile Robot in an Uncertain 3-D World. Evaluation of Algorithm by Practical Running and Simulation.

Abstract Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

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Research on the Path Planning Algorithm of Mobile Robot

2021 13th International Conference on Measuring Technology and Mechatronics Automation (ICMTMA) ◽

10.1109/icmtma52658.2021.00102 ◽

2021 ◽

Author(s):

Yingding Gao ◽

Tianyang Hu ◽

Yinchu Wang ◽

Yang Zhang

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Planning Algorithm ◽

Path Planning Algorithm

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Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-05-2018-0093 ◽

2018 ◽

Vol 45 (5) ◽

pp. 688-702 ◽

Cited By ~ 2

Author(s):

Dayal R. Parhi ◽

Animesh Chhotray

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Wheeled Mobile Robot ◽

Weight Functions ◽

Feasible Point ◽

Content Type ◽

Intelligent Technique ◽

Planning Algorithm ◽

Path Planning Algorithm ◽

Incremental Step

PurposeThis paper aims to generate an obstacle free real time optimal path in a cluttered environment for a two-wheeled mobile robot (TWMR).Design/methodology/approachThis TWMR resembles an inverted pendulum having an intermediate body mounted on a robotic mobile platform with two wheels driven by two DC motors separately. In this article, a novel motion planning strategy named as DAYANI arc contour intelligent technique has been proposed for navigation of the two-wheeled self-balancing robot in a global environment populated by obstacles. The developed new path planning algorithm evaluates the best next feasible point of motion considering five weight functions from an arc contour depending upon five separate navigational parameters.FindingsAuthenticity of the proposed navigational algorithm has been demonstrated by computing the path length and time taken through a series of simulations and experimental verifications and the average percentage of error is found to be about 6%.Practical implicationsThis robot dynamically stabilizes itself with taller configuration, can spin on the spot and rove along through obstacles with smaller footprints. This diversifies its areas of application to both indoor and outdoor environments especially with very narrow spaces, sharp turns and inclined surfaces where its multi-wheel counterparts feel difficult to perform.Originality/valueA new obstacle avoidance and path planning algorithm through incremental step advancement by evaluating the best next feasible point of motion has been established and verified through both experiment and simulation.

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