The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of SYSTEMS ENGINEERING, APPLICATIONS AND DEVELOPMENT
Transactions ID Number: 19-215
Full Name: OUARDA Hachour
Position: Doctor (Researcher)
Age: ON
Sex: Female
Address: BP n°216 Ain Benian Algiers Algeria
Country: ALGERIA
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E-mail address: kala_ouarda@yahoo.fr
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Title of the Paper: A three dimensional collision- free-path planning
Authors as they appear in the Paper: O.Hachour
Email addresses of all the authors: kala_ouarda@yahoo.fr
Number of paper pages: 10
Abstract: In this present work we present a 3D (three dimensional) collision free path planning of autonomous mobile robot. The planar is considered as 3D smoothed cubic B-spline surface. The 3D algorithm allows a mobile robot to navigate through static obstacles, and finding the path without collision. The proposed method can deal a wide number of environments and gives to our robot the autonomous decision of how to avoid 3D obstacles and how to attend the target. The path connecting the start point to the target point can be interpolated with a NURB-spline (nonuniform rational B-splines ) curve to obtain a smooth curve which fits the surface perfectly. The NURB-spline curves are flexible and powerful mathematical tool to design and control the shapes of three-dimensional surfaces. The proposed algorithm using NURB-spline can deal with 3D environment complexity and finds the optimal path The results are satisfactory to see the great number of environments treated. The resu!
lts are satisfactory and promising. The proposed method is computationally efficient and is suitable for more 3D applications
Keywords: Autonomous Mobile robots, Navigation, 3D Path planning, Cubic B-splines
EXTENSION of the file: .doc
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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