The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of SYSTEMS ENGINEERING, APPLICATIONS AND DEVELOPMENT
Transactions ID Number: 19-671
Full Name: Norlida Buniyamin
Position: Associate Professor
Age: ON
Sex: Female
Address: Faculty of Electrical Engineering, University Teknologi MARA, Shah Alam, Selangor
Country: MALAYSIA
Tel: 6019-3579877 or 603-55436082
Tel prefix: 603
Fax: 60355435077
E-mail address: nbuniyamin@salam.uitm.edu.my
Other E-mails: norlida_buniyamin@yahoo.com
Title of the Paper: A Simple Local Path Planning Algorithm For Autonomous Mobile Robots
Authors as they appear in the Paper: Norlida Buniyamin, Wan Ahmad Jailani Wan Ngah, Nohaidda Sariff , Zainuddin Mohamad
Email addresses of all the authors: nbuniyamin@salam.uitm.edu.my,zainuddin1@salam.uitm.edu.my,norhaiddasariff@yahoo.com,jai3232@gmail.com
Number of paper pages: 9
Abstract: This paper presents an overview of path planning algorithms for autonomous robots. The paper then focuses on the bug algorithm family which is a local path planning algorithm. Bug algorithms use sensors to detect the nearest obstacle as a mobile robot moves towards a target with limited information about the environment. The algorithm uses obstacle border as guidance toward the target as the robot circumnavigates the obstacle till it finds certain condition to fulfill the algorithm criteria to leave the obstacle toward target point. In addition, this paper introduces an approach utilizing a new algorithm called PointBug. This algorithm attempts to minimize the use of outer perimeter of an obstacle (obstacle border) by looking for a few important points on the outer perimeter of obstacle area as a turning point to target and finally generate a complete path from source to target. The less use of outer perimeter of obstacle area produces shorter total path length t!
aken by a mobile robot. Further this approach is then compared with other existing selected local path planning algorithm for total distance and a guarantee to reach the target.
Keywords: Path Planning, Bug algorithm, Autonomous robot, Sensor based, Mobile robot.
EXTENSION of the file: .pdf
Special (Invited) Session: Point to Point Sensor Based Path Planning Algorithm for Autonomous Mobile Robots
Organizer of the Session: 635-271
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