Intelligent Path Planning Approach for Autonomous Mobile Robot

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2021-12-20 DOI:10.20965/jrm.2021.p1423

Ibrahim M. Al-Adwan

引用次数: 1

Abstract

This paper presents a new path planning algorithm for an autonomous mobile robot. It is desired that the robot reaches its goal in a known or partially known environment (e.g., a warehouse or an urban environment) and avoids collisions with walls and other obstacles. To this end, a new, efficient, simple, and flexible path finder strategy for the robot is proposed in this paper. With the proposed strategy, the optimal path from the robot’s current position to the goal position is guaranteed. The environment is represented as a grid-based map, which is then divided into a predefined number of subfields to reduce the number of required computations. This leads to a reduction in the load on the controller and allows a real-time response. To evaluate the flexibility and efficiency of the proposed strategy, several tests were simulated with environments of different sizes and obstacle distributions. The experimental results demonstrate the reliability and efficiency of the proposed algorithm.

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自主移动机器人智能路径规划方法

提出了一种新的自主移动机器人路径规划算法。期望机器人在已知或部分已知的环境(例如仓库或城市环境)中到达其目标，并避免与墙壁和其他障碍物碰撞。为此，本文提出了一种高效、简单、灵活的新型机器人寻径策略。该策略保证了机器人从当前位置到目标位置的最优路径。环境表示为基于网格的映射，然后将其划分为预定义数量的子字段，以减少所需的计算次数。这导致在控制器上的负载减少，并允许实时响应。为了评估该策略的灵活性和效率，在不同大小和障碍物分布的环境中进行了模拟试验。实验结果证明了该算法的可靠性和有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.