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Transactions: INTERNATIONAL JOURNAL of SYSTEMS ENGINEERING, APPLICATIONS AND DEVELOPMENT
Transactions ID Number: 19-200
Full Name: Ouarda Hachour
Position: Doctor (Researcher)
Age: ON
Sex: Female
Address: BP N°216 Ainbenian Algiers Algeria
Country: ALGERIA
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E-mail address: kala_ouarda@yahoo.fr
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Title of the Paper: The use of the 3D Smoothed parametric curve Path planning for Autonomous mobile robots
Authors as they appear in the Paper: O.Hachour
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Number of paper pages: 13
Abstract: In this present work we present a three dimensional 3D path planning of autonomous mobile robots. The proposed method starts from an initial point to a target point establishing a control points for which connections are made to determine the form of the path without collisions. The robot moves within the unknown environment by sensing and avoiding the obstacles coming across its way towards the target. The navigation is done in 3D environment where the planar is considered as 3D smoothed cubic B-spline surface. The obtained path is the shortest path from all possible free trajectories (the smoothness of the trajectory is done around the control point). The start point and the target point must belong to the control points constructing the smoothed surface. To describe the geometric shape of the environment we have used the technique of cubic b-splines. Theses B-spline are used to represent surfaces. They combine a low degree polynomial or rational representation o!
f maximal smoothness with a geometrically intuitive variation of the surface in terms of the coefficients: by connecting the coefficients one obtains a mesh that roughly outlines the surface. In this context, we have used Bezier surfaces which often fulfill the requirement of generating smooth geometry. The path connecting the start point to the target point must be interpolated with a spline curve to obtain a smooth curve which fits the surface perfectly. The proposed algorithm can deal with any shape obstacles even if it is the case of circular obstacles. This case is the hardest one in any navigation problem. The problem is solved by proposing some useful solutions for each situation. The robot succeeds to reach its target without collisions. The results are satisfactory to see the great number of environments treated. The results are promising for next developments and more design
Keywords: Autonomous Mobile robots, Navigation, 3D Path planning, Cubic B-splines
EXTENSION of the file: .pdf
Special (Invited) Session: Towards an approach of Fuzzy control motion for mobile robots in unknown environments
Organizer of the Session: 618-390
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