INFORMATION CHANGE THE WORLD

International Journal of Intelligent Systems and Applications(IJISA)

ISSN: 2074-904X (Print), ISSN: 2074-9058 (Online)

Published By: MECS Press

IJISA Vol.4, No.2, Mar. 2012

Mobile Robot Path Planning with Randomly Moving Obstacles and Goal

Full Text (PDF, 825KB), PP.1-15


Views:158   Downloads:3

Author(s)

Vanitha Aenugu, Peng-Yung Woo

Index Terms

Mobile robot;path planning;randomly moving obstacles;obstacle avoidance;randomly moving goal

Abstract

This article presents the dynamic path planning for a mobile robot to track a randomly moving goal with avoidance of multiple randomly moving obstacles. The main feature of the developed scheme is its capability of dealing with the situation that the paths of both the goal and the obstacles are unknown a priori to the mobile robot. A new mathematical approach that is based on the concepts of 3-D geometry is proposed to generate the path of the mobile robot. The mobile robot decides its path in real time to avoid the randomly moving obstacles and to track the randomly moving goal. The developed scheme results in faster decision-making for successful goal tracking. 3-D simulations using MATLAB validate the developed scheme.

Cite This Paper

Vanitha Aenugu, Peng-Yung Woo,"Mobile Robot Path Planning with Randomly Moving Obstacles and Goal", International Journal of Intelligent Systems and Applications(IJISA), vol.4, no.2, pp.1-15, 2012. DOI: 10.5815/ijisa.2012.02.01

Reference

[1]Hachour Ouarda, “Intelligent Autonomous Path Planning Systems,” International Journal of Systems Applications, Engineering and Development, Issue 3, Vol. 5, pp. 377-386, 2011

[2]Elena Garcia, Marcia Antonia Jimenez, and Pablo Gonzalez De Santos, Manuel Armada, “The Evolution of Mobile robotics Research,” Industrial Mobile robotics to Field and Service-IEEE Mobile robotics and Automation Magazine, pp.90-103, March 2007

[3]Vamsi Polisetty, “ANFIS Generated Dynamic Path Planning for Mobile robots in a 3-D Environmemt,” Diss. Northern Illinois U, 2009

[4]John F. Canny, “The Complexity of Mobile robot Motion Planning,” Cambridge, MA: MIT Press, 1988

[5]Latombe, “Mobile robot Motion Planning”, Norwell, MA: Kluwer, 1991

[6]Y. Koren and J. Borenstein, “Potential Field Methods and Their Inherent Limitations for Mobile robot Navigation,” Proceedings of the IEEE Conference on Mobile robotics and Automation, pp. 1398-1404, April 1991

[7]J. Borenstein and Y. Koren, “Real-Time Obstacle Avoidance for Fast Mobile robots,” Reprinted, with permission, from IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, No. 5, pp. 1179-1187, Sept./Oct. 1989

[8]J. Borenstein and Y. Koren, “Real-Time Obstacle Avoidance for Fast Mobile robots in Cluttered Environments,” Reprint of Proceedings of the 1990 IEEE International Conference on Mobile robotics and Automation, Cincinnati, Ohio, pp. 572-577, May 13-18, 1990

[9]R.A. Brooks, “Solving the find-path problem by good representation of free space,” IEEE Transactions on Systems, Man, Cybernetics, Vol. SMC-13, pp. 190-197, March 1983

[10]M. Herman, “Fast, three-dimensional, collision free motion planning,” Proceedings of IEEE International Conference on Mobile robotics and Automation, San Francisco, CA, 1056-1063, April 1986

[11]Kikuo Fujimura and Hanan Samet, “A Hierarchical Strategy for Path Planning Among Moving Obstacles,” IEEE Transactions on Mobile robotics and Automation, Vol. 5, No. 1, pp. 61-69, February 1989

[12]Animesh Chakravarthy and Debaisish Ghose, “Obstacle Avoidance in a Dynamic Environment: A Collision Cone Approach,” 562 IEEE Transactions on Systems, Man, Cybernetics-Part A: Systems and Humans, Vol. 28, No. 5, pp. 562-574, September 1998

[13]S.S. Ge and Y.J. Cui, “Dynamic Motion Planning for Mobile robots Using Potential Field Method,” Autonomous Mobile robots 13, pp. 207-222, 2002

[14]Jur P. van den Berg and Mark H. Overmars, “Roadmap-Based Motion Planning in Dynamic Environments,” IEEE Transaction on Mobile robotics, Vol. 21, No. 5, pp. 885-897, October 2005

[15]Marija Seder and Ivan Petrovic, “Dynamic Window Based Approach to Mobile robot Motion Control in the Presence of Moving Obstacles,” Proceedings of IEEE International Conference on Mobile robotics and Automation, Roma, Italy, pp. 1986-1992, April 2007

[16]Ellips Masehian and Yalda Katebi, “Mobile robot Motion Planning in Dynamic Environments with Moving Obstacles and Target,” World Academy of Science, Engineering and Technology 29, pp. 107-112, 2007

[17]Fethi Belkhouche, “Reactive Path Planning in a Dynamic Environment,” IEEE Transaction on Mobile robotics, Vol. 25, No. 4, pp. 902-911, August 2009

[18]Xiaoping Yun and Ko-Cheng Tan, “A Wall-Following Method for Escaping Local Minima in Potential Field Based Motion Planning,” Advanced Mobile robotics, ICAR ’97. Proceedings., 8th International Conference on, pp. 421-426, July 7-9, 1997