scholarly journals Intelligent Path Planning Approach for Autonomous Mobile Robot

2021 ◽  
Vol 33 (6) ◽  
pp. 1423-1428
Author(s):  
Ibrahim M. Al-Adwan ◽  
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Urban Environment ◽  
Optimal Path ◽  
Autonomous Mobile Robot ◽  
Current Position ◽  
Planning Approach ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Grid Based

This paper presents a new path planning algorithm for an autonomous mobile robot. It is desired that the robot reaches its goal in a known or partially known environment (e.g., a warehouse or an urban environment) and avoids collisions with walls and other obstacles. To this end, a new, efficient, simple, and flexible path finder strategy for the robot is proposed in this paper. With the proposed strategy, the optimal path from the robot’s current position to the goal position is guaranteed. The environment is represented as a grid-based map, which is then divided into a predefined number of subfields to reduce the number of required computations. This leads to a reduction in the load on the controller and allows a real-time response. To evaluate the flexibility and efficiency of the proposed strategy, several tests were simulated with environments of different sizes and obstacle distributions. The experimental results demonstrate the reliability and efficiency of the proposed algorithm.

Implementation of a Navigational Path Planning Algorithm for an Autonomous Mobile Robot

2021 ◽  
Author(s):  
Anushree C. Nilavar ◽  
Jyoti Bali ◽  
Arpita Huggi ◽  
Arunkumar Giriyapur ◽  
Ashwini G K
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
Planning Algorithm ◽  
Path Planning Algorithm

scholarly journals Development of a Hybrid Path Planning Algorithm and a Bio-Inspired Control for an Omni-Wheel Mobile Robot

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4258 ◽  
Author(s):  
Changwon Kim ◽  
Junho Suh ◽  
Je-Heon Han
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Motion Control ◽  
Control Structure ◽  
Optimal Path ◽  
Tracking Task ◽  
Motion Controller ◽  
Planning Algorithm ◽  
Omni Wheel ◽  
Path Planning Algorithm

This research presents a control structure for an omni-wheel mobile robot (OWMR). The control structure includes the path planning module and the motion control module. In order to secure the robustness and fast control performance required in the operating environment of OWMR, a bio-inspired control method, brain limbic system (BLS)-based control, was applied. Based on the derived OWMR kinematic model, a motion controller was designed. Additionally, an optimal path planning module is suggested by combining the advantages of A* algorithm and the fuzzy analytic hierarchy process (FAHP). In order to verify the performance of the proposed motion control strategy and path planning algorithm, numerical simulations were conducted. Through a point-to-point movement task, circular path tracking task, and randomly moving target tracking task, it was confirmed that the suggesting motion controller is superior to the existing controllers, such as PID. In addition, A*–FAHP was applied to the OWMR to verify the performance of the proposed path planning algorithm, and it was simulated based on the static warehouse environment, dynamic warehouse environment, and autonomous ballet parking scenarios. The simulation results demonstrated that the proposed algorithm generates the optimal path in a short time without collision with stop and moving obstacles.

Fast and Optimal Path Planning Algorithm (FAOPPA) for a Mobile Robot

2019 ◽  
Vol 106 (2) ◽  
pp. 577-592 ◽  
Author(s):  
Patience I. Adamu ◽  
Hilary I. Okagbue ◽  
Pelumi E. Oguntunde
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot

2015 ◽  
Vol 27 (3) ◽  
pp. 286-292 ◽  
Author(s):  
Kentaro Ueno ◽  
◽  
Tetsuo Kinoshita ◽  
Kazuyuki Kobayashi ◽  
Kajiro Watanabe
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
Safe Navigation ◽  
Assignment Method ◽  
Dynamic Path Planning ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Path Switching ◽  
Path Planning Algorithm

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/08.jpg"" width=""340"" /> Proposed path-planning result</div> In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.

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