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Transactions: INTERNATIONAL JOURNAL of MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES
Transactions ID Number: 17-159
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: hachour_ouarda@yahoo.fr
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Title of the Paper: Path planning in changing environments
Authors as they appear in the Paper: Ouarda Hachour
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Number of paper pages: 8
Abstract: The major task for path-planning for single mobile robot is to search a collision –free path. The work in path planning has led into issues of map representation for a real world. Therefore, this problem considered as one of challenges in the field of mobile robots because of its direct effect for having a simple and computationally efficient path planning strategy. For path planning areas, it is sufficient for the robot to use a topological map that represents only the different areas without details. The computational cost of exactly solving a motion planning problem is exponential in the number of degrees of freedom possessed by the robot. The real world is constantly in motion. This changing environment can place tight constraints on the time available for to a robot for planning. In this present work, a simple and an efficient collision free-path planning approach for autonomous mobile robot is proposed in which the robot navigates, avoids obstacles and attend!
s its target. The proposed approach is trained in unknown environments. The robot starts from any position then it must move by sensing and avoiding the obstacles. If the algorithm does not converge, an error is returned in the variable Error Message. If there is no possible way to get the target, the program returns (no way) as message box response indicating that after much computing there is no possible configuration to the target
Keywords: Autonomous Mobile Robot (AMR), Artificial Intelligence, Intelligent control, Motion Planning, Autonomy requirements
EXTENSION of the file: .pdf
Special (Invited) Session: Autonomous Mobile robots motion in unknown environments
Organizer of the Session: 659-131
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