Global Mobile Robot Path Planning using Laser Simulator

This paper presents the utilization of novel laser simulator search graph approach for global path determination in unknown environment using MATLAB. The environment of the robot is represented in 2D map and the laser simulator is used to find the collision free path within this environment without...

Full description

Bibliographic Details
Main Authors:	Ali, Mohammed A. H., Wan Azhar, Wan Yusoff, Zamzuri, Hamedon, Zulkifli, Md. Yusof, Musa, Mailah
Format:	Conference or Workshop Item
Language:	English English
Published:	IEEE 2017
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/18420/ http://umpir.ump.edu.my/id/eprint/18420/ http://umpir.ump.edu.my/id/eprint/18420/1/Global%20mobile%20robot%20path%20planning%20using%20laser%20simulator.pdf http://umpir.ump.edu.my/id/eprint/18420/2/Global%20mobile%20robot%20path%20planning%20using%20laser%20simulator%201.pdf

id	ump-18420
recordtype	eprints
spelling	ump-184202018-01-18T04:00:55Z http://umpir.ump.edu.my/id/eprint/18420/ Global Mobile Robot Path Planning using Laser Simulator Ali, Mohammed A. H. Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof Musa, Mailah TS Manufactures This paper presents the utilization of novel laser simulator search graph approach for global path determination in unknown environment using MATLAB. The environment of the robot is represented in 2D map and the laser simulator is used to find the collision free path within this environment without prior knowledge about the visiting cells. By using the laser simulator row points procedures, the point that determine the planned path in front of robot can be generated continuously and this process is repeated until the robot reaches the goal position. Two kinds of environments are used to test laser simulator; the first one is represented with cleared borders and polygons whereas the other includes some noises and uncertainties. The developed laser simulator is implemented successfully in these environments and the simulation results are compared with the classical A* algorithm. From the results, the laser simulator has advantages in computational time and low collision possibility in comparison with A* algorithm while the path cost of laser simulator is always greater than path cost of A* algorithm. IEEE 2017 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/18420/1/Global%20mobile%20robot%20path%20planning%20using%20laser%20simulator.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/18420/2/Global%20mobile%20robot%20path%20planning%20using%20laser%20simulator%201.pdf Ali, Mohammed A. H. and Wan Azhar, Wan Yusoff and Zamzuri, Hamedon and Zulkifli, Md. Yusof and Musa, Mailah (2017) Global Mobile Robot Path Planning using Laser Simulator. In: International Symposium on Robotics and Manufacturing Automation (ROMA) 2016, 25-27 September 2016 , Ipoh, Perak. . ISBN 9781509009282 http://ieeexplore.ieee.org/abstract/document/7847828/
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TS Manufactures
spellingShingle	TS Manufactures Ali, Mohammed A. H. Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof Musa, Mailah Global Mobile Robot Path Planning using Laser Simulator
description	This paper presents the utilization of novel laser simulator search graph approach for global path determination in unknown environment using MATLAB. The environment of the robot is represented in 2D map and the laser simulator is used to find the collision free path within this environment without prior knowledge about the visiting cells. By using the laser simulator row points procedures, the point that determine the planned path in front of robot can be generated continuously and this process is repeated until the robot reaches the goal position. Two kinds of environments are used to test laser simulator; the first one is represented with cleared borders and polygons whereas the other includes some noises and uncertainties. The developed laser simulator is implemented successfully in these environments and the simulation results are compared with the classical A* algorithm. From the results, the laser simulator has advantages in computational time and low collision possibility in comparison with A* algorithm while the path cost of laser simulator is always greater than path cost of A* algorithm.
format	Conference or Workshop Item
author	Ali, Mohammed A. H. Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof Musa, Mailah
author_facet	Ali, Mohammed A. H. Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof Musa, Mailah
author_sort	Ali, Mohammed A. H.
title	Global Mobile Robot Path Planning using Laser Simulator
title_short	Global Mobile Robot Path Planning using Laser Simulator
title_full	Global Mobile Robot Path Planning using Laser Simulator
title_fullStr	Global Mobile Robot Path Planning using Laser Simulator
title_full_unstemmed	Global Mobile Robot Path Planning using Laser Simulator
title_sort	global mobile robot path planning using laser simulator
publisher	IEEE
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/18420/ http://umpir.ump.edu.my/id/eprint/18420/ http://umpir.ump.edu.my/id/eprint/18420/1/Global%20mobile%20robot%20path%20planning%20using%20laser%20simulator.pdf http://umpir.ump.edu.my/id/eprint/18420/2/Global%20mobile%20robot%20path%20planning%20using%20laser%20simulator%201.pdf
first_indexed	2023-09-18T22:26:05Z
last_indexed	2023-09-18T22:26:05Z
_version_	1777415975749025792

Global Mobile Robot Path Planning using Laser Simulator

Similar Items