Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm

Imen Hassani, Imen Maalej and Chokri Rekik

Mathematical Problems in Engineering, 2018, vol. 2018, 1-13

Abstract:

Currently, the path planning problem is one of the most researched topics in autonomous robotics. That is why finding a safe path in a cluttered environment for a mobile robot is an important requirement for the success of any such mobile robot project. In this work, a developed algorithm based on free segments and a turning point strategy for solving the problem of robot path planning in a static environment is presented. The aim of the turning point approach is to search a safe path for the mobile robot, to make the robot moving from a starting position to a destination position without hitting obstacles. This proposed algorithm handles two different objectives which are the path safety and the path length. In addition, a robust control law which is called sliding mode control is proposed to control the stabilization of an autonomous mobile robot to track a desired trajectory. Finally, simulation results show that the developed approach is a good alternative to obtain the adequate path and demonstrate the efficiency of the proposed control law for robust tracking of the mobile robot.

Date: 2018
References: Add references at CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2018/2163278.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2018/2163278.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:2163278

DOI: 10.1155/2018/2163278

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().