A novel algorithm for mobile robot path planning
Document Type
Conference Item
Publication Date
4-1-2021
Abstract
Robot path planning is a methodology that guides a robot to accomplish a mission through an uncertain environment optimally and safely. The primary responsibility involved in path planning is environment modeling and path searching. Path planning is generally specified as given a robot and a summary of an environment to find a collision path between certain predefined points. This paper presented a novel algorithm called generalized Laser Simulator (GLS) for path finding in a global environment. The methodology of this research consists of global path planning. The proposed algorithm is designed and presented. Simulation results show the algorithm's effectiveness in finding an optimal path to the set goal point from a defined start point. Lastly, the proposed algorithm is compared with the Laser simulator (LS) and A*method to verify its effectiveness. The Generalized laser simulator has advantages in the total time and path length compared to A* and laser simulator algorithm.
Keywords
Global path planning, MATLAB, Obstacles, Path planning, Robotics
Divisions
mechanical
Funders
Universiti Malaysia Pahang [Grant No: PGRS1903182]
Event Title
11th IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE 2021
Event Location
Penang
Event Dates
3 - 4 April 2021
Event Type
conference