Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment
There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approac...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Trans Tech Publications
2014
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| Online Access: | http://psasir.upm.edu.my/id/eprint/59559/1/Modified%20virtual%20semi-circle%20approach%20for%20a%20reactive%20collision%20avoidance%20of%20a%20mobile%20robot%20in%20an%20outdoor%20environment.pdf |
| _version_ | 1796977125493833728 |
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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 | There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approach is proposed based on situated-activity paradigm. This approach is divided into two phase to compute a free collision path planning; detection and avoidance phase. Implementation of five ultrasonic range finder sensors with a very small blind zone created on purpose and the formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance being computed. |
| first_indexed | 2024-03-06T09:35:38Z |
| format | Article |
| id | upm.eprints-59559 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T09:35:38Z |
| publishDate | 2014 |
| publisher | Trans Tech Publications |
| record_format | dspace |
| spelling | upm.eprints-595592018-03-09T02:26:51Z http://psasir.upm.edu.my/id/eprint/59559/ Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment Raja Maamor Shah, Raja Noor Farah Azura Nayan, Irwan Raja Maamor Shah, Raja Lailatul Zuraida Amira Shahirah Mohd Hanafi @ Omar, Hafiz There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approach is proposed based on situated-activity paradigm. This approach is divided into two phase to compute a free collision path planning; detection and avoidance phase. Implementation of five ultrasonic range finder sensors with a very small blind zone created on purpose and the formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance being computed. Trans Tech Publications 2014 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/59559/1/Modified%20virtual%20semi-circle%20approach%20for%20a%20reactive%20collision%20avoidance%20of%20a%20mobile%20robot%20in%20an%20outdoor%20environment.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) Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment. Applied Mechanics and Materials, 679. pp. 171-175. ISSN 1660-9336; ESSN: 1662-7482 https://www.scientific.net/AMM.679.171 10.4028/www.scientific.net/AMM.679.171 |
| spellingShingle | Raja Maamor Shah, Raja Noor Farah Azura Nayan, Irwan Raja Maamor Shah, Raja Lailatul Zuraida Amira Shahirah Mohd Hanafi @ Omar, Hafiz Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment |
| title | Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment |
| title_full | Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment |
| title_fullStr | Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment |
| title_full_unstemmed | Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment |
| title_short | Modified virtual semi-circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment |
| title_sort | modified virtual semi circle approach for a reactive collision avoidance of a mobile robot in an outdoor environment |
| url | http://psasir.upm.edu.my/id/eprint/59559/1/Modified%20virtual%20semi-circle%20approach%20for%20a%20reactive%20collision%20avoidance%20of%20a%20mobile%20robot%20in%20an%20outdoor%20environment.pdf |
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