Path planning for mobile robot based on reactive collision avoidance method
Background: The number of research regarding local path planning of the Unmanned Ground Vehicle (UGV) is increasing widely. The Modified Virtual Semi Circle (MVSC) approach is proposed for real-time path planning. This research proposes the implementation of five ultrasonic range finder sensors with...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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American-Eurasian Network for Scientific Information
2014
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| Online Access: | http://psasir.upm.edu.my/id/eprint/59558/1/Path%20planning%20for%20mobile%20robot%20based%20on%20reactive%20collision%20avoidance%20method.pdf |
| _version_ | 1825932023602085888 |
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| author | Raja Maamor Shah, Raja Noor Farah Azura Nayan, Irwan Raja Maamor Shah, Raja Lailatul Zuraida Amira Shahirah Mohd Hanafi @ Omar, Hafiz |
| author_facet | Raja Maamor Shah, Raja Noor Farah Azura Nayan, Irwan Raja Maamor Shah, Raja Lailatul Zuraida Amira Shahirah Mohd Hanafi @ Omar, Hafiz |
| author_sort | Raja Maamor Shah, Raja Noor Farah Azura |
| collection | UPM |
| description | Background: The number of research regarding local path planning of the Unmanned Ground Vehicle (UGV) is increasing widely. The Modified Virtual Semi Circle (MVSC) approach is proposed for real-time path planning. This research proposes the implementation of five ultrasonic range finder sensors with a very small blind zone existence in the sensor arrangement. The navigation of the mobile robot depends on the position of the mobile robot in the influence zone area. The formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance presence. Objective: The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning. Results: The implementation of MVSC produced shortest path, smoothness of the velocity and successfully avoids collision with the obstacles to reach it predetermined target. Conclusion: MVSC propose a simple path planning that requires low computational cost and do not demand for a very large memory. |
| first_indexed | 2024-03-06T09:35:38Z |
| format | Article |
| id | upm.eprints-59558 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T09:35:38Z |
| publishDate | 2014 |
| publisher | American-Eurasian Network for Scientific Information |
| record_format | dspace |
| spelling | upm.eprints-595582018-03-09T02:10:41Z http://psasir.upm.edu.my/id/eprint/59558/ Path planning for mobile robot based on reactive collision avoidance method Raja Maamor Shah, Raja Noor Farah Azura Nayan, Irwan Raja Maamor Shah, Raja Lailatul Zuraida Amira Shahirah Mohd Hanafi @ Omar, Hafiz Background: The number of research regarding local path planning of the Unmanned Ground Vehicle (UGV) is increasing widely. The Modified Virtual Semi Circle (MVSC) approach is proposed for real-time path planning. This research proposes the implementation of five ultrasonic range finder sensors with a very small blind zone existence in the sensor arrangement. The navigation of the mobile robot depends on the position of the mobile robot in the influence zone area. The formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance presence. Objective: The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning. Results: The implementation of MVSC produced shortest path, smoothness of the velocity and successfully avoids collision with the obstacles to reach it predetermined target. Conclusion: MVSC propose a simple path planning that requires low computational cost and do not demand for a very large memory. American-Eurasian Network for Scientific Information 2014 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/59558/1/Path%20planning%20for%20mobile%20robot%20based%20on%20reactive%20collision%20avoidance%20method.pdf Raja Maamor Shah, Raja Noor Farah Azura and Nayan, Irwan and Raja Maamor Shah, Raja Lailatul Zuraida and Amira Shahirah and Mohd Hanafi @ Omar, Hafiz (2014) Path planning for mobile robot based on reactive collision avoidance method. Australian Journal of Basic and Applied Sciences, 8 (spec.11). pp. 1-7. ISSN 1991-8178 http://ajbasweb.com/old/ajbas_%20Special6%20iCMSC_2014.html |
| spellingShingle | Raja Maamor Shah, Raja Noor Farah Azura Nayan, Irwan Raja Maamor Shah, Raja Lailatul Zuraida Amira Shahirah Mohd Hanafi @ Omar, Hafiz Path planning for mobile robot based on reactive collision avoidance method |
| title | Path planning for mobile robot based on reactive collision avoidance method |
| title_full | Path planning for mobile robot based on reactive collision avoidance method |
| title_fullStr | Path planning for mobile robot based on reactive collision avoidance method |
| title_full_unstemmed | Path planning for mobile robot based on reactive collision avoidance method |
| title_short | Path planning for mobile robot based on reactive collision avoidance method |
| title_sort | path planning for mobile robot based on reactive collision avoidance method |
| url | http://psasir.upm.edu.my/id/eprint/59558/1/Path%20planning%20for%20mobile%20robot%20based%20on%20reactive%20collision%20avoidance%20method.pdf |
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