Path Planning, Motion Control and Obstacle Detection of Indoor Mobile Robot
Keywords:
Kinematic, A* Algorithm, Odometry, Kinematic.Abstract
In this paper, A* path planning algorithm has been represented for a mobile robot to be able to follow a constructed path from its current position to a specified goal within its environment. To ensure that the mobile robot follow the constructed path by path planning algorithm, a motion control algorithm has been built. In the same time, to detect static obstacles and avoid collision with them, an obstacle detection algorithm has been used as a final algorithm that will be used as a part of the whole system to give the robot the ability to move from its initial known position to a specific goal in an optimum way.
References
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[2] P. Lima and M. I. Ribeiro, “Mobile Robotics,” Institute for Systems and Robotics (ISR/IST, 2012.
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[9] pjtanz. (2010, 4 August). An Introduction to A Path Planning (Using LabVIEW). Available: https://decibel.ni.com/content/docs/DOC-8983.
[2] P. Lima and M. I. Ribeiro, “Mobile Robotics,” Institute for Systems and Robotics (ISR/IST, 2012.
[3] R. Sharma, “DESIGN AND IMPLEMENTATION OF PATH PLANNING ALGORITHM FOR WHELLED MOBILE ROBOT IN A KNOWN DYNAMIC ENVIRONMENT,” International Journal of Research in Engineering and Technology, vol. 02, 2013.
[4] T. Ersson and X. Hu, “ Path planning and navigation of mobile robots in unknown environments,” in Intelligent Robots and Systems, 2001 IEEE/RSJ International Conference on, 2001, pp. 858-864.
[5] S. Mahadevi, K. R. Shylaja, and M. E. Ravinandan, “Memory of Based A-Star Algorithm for path planning of a Mobile Robot,” International Journal of Science and Research (IJSR), vol. 36, pp. 37-48, 2009
[6] Robin. (2009) Heuristic Search.
[7] C. Popirlan and M.Dupac, “ An optimal Path Algorithm for Autonomous Searching Robots,” Annals for the University of Craiova-Mathematics and Computer Science Series, Vol. 36, pp. 37-58, 2009.
[8] T. Yap Jr “ Mobile Robot Navigation with low cost sensors,” UNIVERSITY OF CALIFORNIA RIVERSIDE, 2009.
[9] pjtanz. (2010, 4 August). An Introduction to A Path Planning (Using LabVIEW). Available: https://decibel.ni.com/content/docs/DOC-8983.
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Published
2016-10-02
How to Cite
Mahmood, A. K., & Bicker, R. (2016). Path Planning, Motion Control and Obstacle Detection of Indoor Mobile Robot. American Scientific Research Journal for Engineering, Technology, and Sciences, 26(1), 91–107. Retrieved from https://asrjetsjournal.org/index.php/American_Scientific_Journal/article/view/2190
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