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Transactions: INTERNATIONAL JOURNAL of SYSTEMS ENGINEERING, APPLICATIONS AND DEVELOPMENT
Transactions ID Number: 19-184
Full Name: Hachour Ouarda
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: The use of linear parametric smoothed curve Path planning for mobile robots
Authors as they appear in the Paper: Ouarda Hachour
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Number of paper pages: 12
Abstract: In this present work we present a linear parametric smoothed curve characteristic navigation approach of autonomous mobile robots. The proposed linear parametric curves of navigation are used for path planning where the smoothness of the trajectory around the control point is taken into account. 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. This algorithm provides the robot the possibility to move from the initial position to the final position (target). The robot moves within the unknown environment by sensing and avoiding the obstacles coming across its way towards the target. The obtained path is the shortest path from all possible free trajectories. This optimality is ensured by using the simulated annealing technique. The Simulation results show that the algorithm generates smooth, optimal path for the robot and the robot always successfully rea!
ches the target. 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. For any proposed environment, the robot succeeds to reach its target without collisions. The results are satisfactory to see the great number of environments treated. The results are satisfactory and promising for next developments and more design.
Keywords: Autonomous Mobile Robot (AMR), optimal path, parametric curves, and Simulated Annealing
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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