The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 28-641
Full Name: Ouarda Hachour
Position: Doctor (Researcher)
Age: ON
Sex: Female
Address: BP 216 Ain Benian
Country: ALGERIA
Tel: 213771878713
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Fax:
E-mail address: kala_ouarda@yahoo.fr
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Title of the Paper: Path Generation for Autonomous Mobile Robot Navigation
Authors as they appear in the Paper: Ouarda Hachour
Email addresses of all the authors: kala_ouarda@yahoo.fr
Number of paper pages: 14
Abstract: this paper presents an algorithm for path planning to a target for mobile robot in unknown environment. The aim of this work is to develop an algorithm which allows a mobile robot to navigate through static obstacles, and finding the path in order to reach a specified target. We propose an algorithm that provides the robot a trajectory to be followed to move from the initial position to the specified target. The robot trajectory is designed in a grid-map form of a known environment with static obstacles. The robot moves within the unknown environment by sensing and avoiding the obstacles coming across its way towards the target. When this movement is done, it is necessary to plan an optimal or feasible path for itself avoiding obstructions in its way and minimizing a cost such as time, energy, and distance. The process of navigation must make the robot able to achieve these tasks : to avoid obstacles, and to make ones way toward its target.The algorithms are implem!
ented in visual basic and DELPHI programming language; whereby the environment is studied in a two dimensional coordinate system. The simulation part is an approach to the real expected result; this part is done using DELPHI with version 7, and visual basic. The algorithms permit the robot to move from the initial position to the desired position following an estimated trajectory.
Keywords: Path planning , Autonomous Mobile Robot (AMR), navigation
EXTENSION of the file: .doc
Special (Invited) Session: THE PROPOSED AUTONOMOUS MOBILE ROBOT NAVIGATION SYSTEM
Organizer of the Session: 593-155
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