A Motion Planning System for Mobile Robots
In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of i...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Stefan cel Mare University of Suceava
2012-02-01
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| Series: | Advances in Electrical and Computer Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.4316/AECE.2012.01010 |
| _version_ | 1819156612765450240 |
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| author | TUNCER, A. YILDIRIM, M. ERKAN, K. |
| author_facet | TUNCER, A. YILDIRIM, M. ERKAN, K. |
| author_sort | TUNCER, A. |
| collection | DOAJ |
| description | In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by means of camera and image processing. A graphical user interface (GUI) is designed for the motion planning system that allows the user to interact with the robot system and to observe the robot environment. All the software components of the system are written in MATLAB that provides to use non-predefined accessories rather than the robot firmware has, to avoid confusing in C++ libraries of robot's proprietary software, to control the robot in detail and not to re-compile the programs frequently in real-time dynamic operations. |
| first_indexed | 2024-12-22T15:55:39Z |
| format | Article |
| id | doaj.art-a41ac6290758479e838749619dcffb9e |
| institution | Directory Open Access Journal |
| issn | 1582-7445 1844-7600 |
| language | English |
| last_indexed | 2024-12-22T15:55:39Z |
| publishDate | 2012-02-01 |
| publisher | Stefan cel Mare University of Suceava |
| record_format | Article |
| series | Advances in Electrical and Computer Engineering |
| spelling | doaj.art-a41ac6290758479e838749619dcffb9e2022-12-21T18:20:48ZengStefan cel Mare University of SuceavaAdvances in Electrical and Computer Engineering1582-74451844-76002012-02-01121576210.4316/AECE.2012.01010A Motion Planning System for Mobile RobotsTUNCER, A.YILDIRIM, M.ERKAN, K.In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by means of camera and image processing. A graphical user interface (GUI) is designed for the motion planning system that allows the user to interact with the robot system and to observe the robot environment. All the software components of the system are written in MATLAB that provides to use non-predefined accessories rather than the robot firmware has, to avoid confusing in C++ libraries of robot's proprietary software, to control the robot in detail and not to re-compile the programs frequently in real-time dynamic operations.http://dx.doi.org/10.4316/AECE.2012.01010genetic algorithmmobile robotmotion planning |
| spellingShingle | TUNCER, A. YILDIRIM, M. ERKAN, K. A Motion Planning System for Mobile Robots Advances in Electrical and Computer Engineering genetic algorithm mobile robot motion planning |
| title | A Motion Planning System for Mobile Robots |
| title_full | A Motion Planning System for Mobile Robots |
| title_fullStr | A Motion Planning System for Mobile Robots |
| title_full_unstemmed | A Motion Planning System for Mobile Robots |
| title_short | A Motion Planning System for Mobile Robots |
| title_sort | motion planning system for mobile robots |
| topic | genetic algorithm mobile robot motion planning |
| url | http://dx.doi.org/10.4316/AECE.2012.01010 |
| work_keys_str_mv | AT tuncera amotionplanningsystemformobilerobots AT yildirimm amotionplanningsystemformobilerobots AT erkank amotionplanningsystemformobilerobots AT tuncera motionplanningsystemformobilerobots AT yildirimm motionplanningsystemformobilerobots AT erkank motionplanningsystemformobilerobots |