Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment
Path planning and control of a mobile robot, in a dynamic environment, has been an important research topic for many years. In this paper an algorithm for autonomous motion of a mobile robot is proposed, with mecanum wheels, to reach a goal while avoiding obstacles through the shortest path in a dyn...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2024-03-01
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| Series: | Heliyon |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2405844024028603 |
| _version_ | 1827316468364083200 |
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| author | Muhammad Umair Shafiq Abid Imran Sajjad Maznoor Afraz Hussain Majeed Bilal Ahmed Ilyas Khan Abdullah Mohamed |
| author_facet | Muhammad Umair Shafiq Abid Imran Sajjad Maznoor Afraz Hussain Majeed Bilal Ahmed Ilyas Khan Abdullah Mohamed |
| author_sort | Muhammad Umair Shafiq |
| collection | DOAJ |
| description | Path planning and control of a mobile robot, in a dynamic environment, has been an important research topic for many years. In this paper an algorithm for autonomous motion of a mobile robot is proposed, with mecanum wheels, to reach a goal while avoiding obstacles through the shortest path in a dynamic environment. The proposed method uses a hybrid A⁎ and a velocity obstacle algorithms for path planning and obstacle avoidance. The A⁎ algorithm is implemented to explore the shortest path from starting position to the goal while avoiding all the static obstacles. However, in real time applications the dynamic obstacles need to be avoided, therefore, for such a case velocity obstacle algorithm is unified with the A⁎ algorithm. Initially, the proposed algorithm is verified through simulations. Then it is implemented using experimental setup in real time environment using single and multiple static obstacles as well as on a dynamic obstacle. It can be observed that the robot reaches the goal, effectively by avoiding static and dynamic obstacles. Moreover, the performance of the proposed work is evaluated through qualitative comparison between proposed method and recently published work, showing that the proposed algorithm is gives better features than existing work. In the end, the possible application of mobile robot having mecanum wheels with proposed path planning method is also given in the paper. |
| first_indexed | 2024-04-24T23:16:11Z |
| format | Article |
| id | doaj.art-6e828ea2f69f4f57b23c0732c9c72896 |
| institution | Directory Open Access Journal |
| issn | 2405-8440 |
| language | English |
| last_indexed | 2024-04-24T23:16:11Z |
| publishDate | 2024-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Heliyon |
| spelling | doaj.art-6e828ea2f69f4f57b23c0732c9c728962024-03-17T07:56:25ZengElsevierHeliyon2405-84402024-03-01105e26829Real-time navigation of mecanum wheel-based mobile robot in a dynamic environmentMuhammad Umair Shafiq0Abid Imran1Sajjad Maznoor2Afraz Hussain Majeed3Bilal Ahmed4Ilyas Khan5Abdullah Mohamed6Faculty of Mechanical Engineering, GIK Institute of Engineering Sciences and Technology, Swabi 23640, PakistanFaculty of Mechanical Engineering, GIK Institute of Engineering Sciences and Technology, Swabi 23640, PakistanResearch Institute of Engineerig and Technology, Hanyang University (ERICA), Ansan 15588, South Korea; Department of Electrical Engineering, Mirpur University of Science and Technology, 1025, Mirpur AJK, PakistanSchool of Energy and Power Engineering, Jiangsu University, Zhenjiang 212013, ChinaDepartment of Electrical Engineering, University of Poonch Rawalakoot, PakistanDepartment of Mathematics, Saveetha School of Engineering, SIMATS, Chennai, Tamil Nadu, India; Department of Mathematics, College of Science Al-Zulfi, Majmaah University, Al-Majmaah 11952, Saudi Arabia; Corresponding author.Research Centre, Future University in Egypt, New Cairo 11835, EgyptPath planning and control of a mobile robot, in a dynamic environment, has been an important research topic for many years. In this paper an algorithm for autonomous motion of a mobile robot is proposed, with mecanum wheels, to reach a goal while avoiding obstacles through the shortest path in a dynamic environment. The proposed method uses a hybrid A⁎ and a velocity obstacle algorithms for path planning and obstacle avoidance. The A⁎ algorithm is implemented to explore the shortest path from starting position to the goal while avoiding all the static obstacles. However, in real time applications the dynamic obstacles need to be avoided, therefore, for such a case velocity obstacle algorithm is unified with the A⁎ algorithm. Initially, the proposed algorithm is verified through simulations. Then it is implemented using experimental setup in real time environment using single and multiple static obstacles as well as on a dynamic obstacle. It can be observed that the robot reaches the goal, effectively by avoiding static and dynamic obstacles. Moreover, the performance of the proposed work is evaluated through qualitative comparison between proposed method and recently published work, showing that the proposed algorithm is gives better features than existing work. In the end, the possible application of mobile robot having mecanum wheels with proposed path planning method is also given in the paper.http://www.sciencedirect.com/science/article/pii/S2405844024028603Mobile robot with mecanum wheelsPath planningDynamic environmentA⁎ algorithmVelocity obstacle |
| spellingShingle | Muhammad Umair Shafiq Abid Imran Sajjad Maznoor Afraz Hussain Majeed Bilal Ahmed Ilyas Khan Abdullah Mohamed Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment Heliyon Mobile robot with mecanum wheels Path planning Dynamic environment A⁎ algorithm Velocity obstacle |
| title | Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment |
| title_full | Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment |
| title_fullStr | Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment |
| title_full_unstemmed | Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment |
| title_short | Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment |
| title_sort | real time navigation of mecanum wheel based mobile robot in a dynamic environment |
| topic | Mobile robot with mecanum wheels Path planning Dynamic environment A⁎ algorithm Velocity obstacle |
| url | http://www.sciencedirect.com/science/article/pii/S2405844024028603 |
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