An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents
In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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College of Engineering, University of Basrah
2016-12-01
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| Series: | Iraqi Journal for Electrical and Electronic Engineering |
| Subjects: | |
| Online Access: | http://ijeee.org/volums/volume12/IJEEE12PDF/paper1224.pdf |
| _version_ | 1811193280094797824 |
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| author | Zahraa Y. Ibrahim Abdulmuttalib T. Rashid Ali F. Marhoon |
| author_facet | Zahraa Y. Ibrahim Abdulmuttalib T. Rashid Ali F. Marhoon |
| author_sort | Zahraa Y. Ibrahim |
| collection | DOAJ |
| description | In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance. |
| first_indexed | 2024-04-12T00:06:55Z |
| format | Article |
| id | doaj.art-2a52858201b5456aa57299f7e97806cd |
| institution | Directory Open Access Journal |
| issn | 1814-5892 2078-6069 |
| language | English |
| last_indexed | 2024-04-12T00:06:55Z |
| publishDate | 2016-12-01 |
| publisher | College of Engineering, University of Basrah |
| record_format | Article |
| series | Iraqi Journal for Electrical and Electronic Engineering |
| spelling | doaj.art-2a52858201b5456aa57299f7e97806cd2022-12-22T03:56:05ZengCollege of Engineering, University of BasrahIraqi Journal for Electrical and Electronic Engineering1814-58922078-60692016-12-01122221234An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangentsZahraa Y. Ibrahim0Abdulmuttalib T. Rashid1Ali F. Marhoon2Electrical Engineering Department University of Basrah Basrah, IraqElectrical Engineering Department University of Basrah Basrah, IraqElectrical Eng. Electrical Power Eng. Electrical Eng. University of Basrah Middle Technical University University of Basrah Basra/ Iraq.In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance.http://ijeee.org/volums/volume12/IJEEE12PDF/paper1224.pdfPath planningpolygonal obstacles avoidancerandomized incremental algorithmvisible tangent graph |
| spellingShingle | Zahraa Y. Ibrahim Abdulmuttalib T. Rashid Ali F. Marhoon An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents Iraqi Journal for Electrical and Electronic Engineering Path planning polygonal obstacles avoidance randomized incremental algorithm visible tangent graph |
| title | An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents |
| title_full | An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents |
| title_fullStr | An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents |
| title_full_unstemmed | An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents |
| title_short | An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents |
| title_sort | algorithm for path planning with polygon obstacles avoidance based on the virtual circle tangents |
| topic | Path planning polygonal obstacles avoidance randomized incremental algorithm visible tangent graph |
| url | http://ijeee.org/volums/volume12/IJEEE12PDF/paper1224.pdf |
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