robot path planning with avoiding obstacles in known environment using free segments and turning points algorithm
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ID: 185236
2018
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Abstract
Currently, the path planning problem is one of the most researched topics in autonomous robotics. That is why finding a safe path in a cluttered environment for a mobile robot is an important requirement for the success of any such mobile robot project. In this work, a developed algorithm based on free segments and a turning point strategy for solving the problem of robot path planning in a static environment is presented. The aim of the turning point approach is to search a safe path for the mobile robot, to make the robot moving from a starting position to a destination position without hitting obstacles. This proposed algorithm handles two different objectives which are the path safety and the path length. In addition, a robust control law which is called sliding mode control is proposed to control the stabilization of an autonomous mobile robot to track a desired trajectory. Finally, simulation results show that the developed approach is a good alternative to obtain the adequate path and demonstrate the efficiency of the proposed control law for robust tracking of the mobile robot.
| Reference Key |
hassani2018mathematicalrobot
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|---|---|
| Authors | ;Imen Hassani;Imen Maalej;Chokri Rekik |
| Journal | journal of power sources |
| Year | 2018 |
| DOI |
10.1155/2018/2163278
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| URL | |
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