A novel algorithm for mobile robot path planning

Muhammad, Aisha and Ali, Mohammed A. H. and Shanono, Ibrahim Haruna (2021) A novel algorithm for mobile robot path planning. In: 11th IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE 2021, 3 - 4 April 2021, Penang.

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Robot path planning is a methodology that guides a robot to accomplish a mission through an uncertain environment optimally and safely. The primary responsibility involved in path planning is environment modeling and path searching. Path planning is generally specified as given a robot and a summary of an environment to find a collision path between certain predefined points. This paper presented a novel algorithm called generalized Laser Simulator (GLS) for path finding in a global environment. The methodology of this research consists of global path planning. The proposed algorithm is designed and presented. Simulation results show the algorithm's effectiveness in finding an optimal path to the set goal point from a defined start point. Lastly, the proposed algorithm is compared with the Laser simulator (LS) and A*method to verify its effectiveness. The Generalized laser simulator has advantages in the total time and path length compared to A* and laser simulator algorithm.

Item Type: Conference or Workshop Item (Paper)
Funders: Universiti Malaysia Pahang [Grant No: PGRS1903182]
Uncontrolled Keywords: Global path planning; MATLAB; Obstacles; Path planning; Robotics
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Engineering > Department of Mechanical Engineering
Depositing User: Ms Zaharah Ramly
Date Deposited: 17 Oct 2023 07:58
Last Modified: 17 Oct 2023 07:58
URI: http://eprints.um.edu.my/id/eprint/35409

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