Laser simulator: a novel search graph-based path planning approach

A novel technique called laser simulator approach for visibility search graph-based path planning has been developed in this article to determine the optimum collision-free path in unknown environment. With such approach, it is possible to apply constraints on the mobile robot trajectory while navig...

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Main Authors:	Ali, Mohammed A. H., Musa, Mailah
Format:	Article
Language:	English
Published:	SAGE Publications Inc. 2018
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/22581/ http://umpir.ump.edu.my/id/eprint/22581/ http://umpir.ump.edu.my/id/eprint/22581/ http://umpir.ump.edu.my/id/eprint/22581/1/Laser%20simulator-%20A%20novel%20search%20graph-based%20path%20planning%20approach.pdf

id	ump-22581
recordtype	eprints
spelling	ump-225812018-12-03T07:49:47Z http://umpir.ump.edu.my/id/eprint/22581/ Laser simulator: a novel search graph-based path planning approach Ali, Mohammed A. H. Musa, Mailah TS Manufactures A novel technique called laser simulator approach for visibility search graph-based path planning has been developed in this article to determine the optimum collision-free path in unknown environment. With such approach, it is possible to apply constraints on the mobile robot trajectory while navigating in complex terrains such as in factories and road environments, as the first work of its kind. The main advantage of this approach is the ability to be used for both global/local path planning in the presence of constraints and obstacles in unknown environments. The principle of the laser simulator approach with all possibilities and cases that could emerge during path planning is explained to determine the path from initial to destination positions in a two-dimensional map. In addition, a comparative study on the laser simulator approach, A* algorithm, Voronoi diagram with fast marching and PointBug algorithms was performed to show the benefits and drawbacks of the proposed approach. A case study on the utilization of the laser simulator in both global and local path planning has been applied in a road roundabout setting which is regarded as a complex environment for robot path planning. In global path planning, the path is generated within a grid map of the roundabout environment to select the path according to the respective road rules. It is also used to recognize the real roundabout from a sequence of images during local path planning in the real-world system. Results show that the performance of the proposed laser simulator approach in both global and local environments is achieved with low computational and path costs, in which the optimum path from the selected start position to the goal point is tracked accordingly in the presence of the obstacles. SAGE Publications Inc. 2018-09 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22581/1/Laser%20simulator-%20A%20novel%20search%20graph-based%20path%20planning%20approach.pdf Ali, Mohammed A. H. and Musa, Mailah (2018) Laser simulator: a novel search graph-based path planning approach. International Journal of Advanced Robotic Systems, 15 (5). pp. 1-16. ISSN 1729-8806 https://doi.org/10.1177/1729881418804726 10.1177/1729881418804726
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Ali, Mohammed A. H. Musa, Mailah Laser simulator: a novel search graph-based path planning approach
description	A novel technique called laser simulator approach for visibility search graph-based path planning has been developed in this article to determine the optimum collision-free path in unknown environment. With such approach, it is possible to apply constraints on the mobile robot trajectory while navigating in complex terrains such as in factories and road environments, as the first work of its kind. The main advantage of this approach is the ability to be used for both global/local path planning in the presence of constraints and obstacles in unknown environments. The principle of the laser simulator approach with all possibilities and cases that could emerge during path planning is explained to determine the path from initial to destination positions in a two-dimensional map. In addition, a comparative study on the laser simulator approach, A* algorithm, Voronoi diagram with fast marching and PointBug algorithms was performed to show the benefits and drawbacks of the proposed approach. A case study on the utilization of the laser simulator in both global and local path planning has been applied in a road roundabout setting which is regarded as a complex environment for robot path planning. In global path planning, the path is generated within a grid map of the roundabout environment to select the path according to the respective road rules. It is also used to recognize the real roundabout from a sequence of images during local path planning in the real-world system. Results show that the performance of the proposed laser simulator approach in both global and local environments is achieved with low computational and path costs, in which the optimum path from the selected start position to the goal point is tracked accordingly in the presence of the obstacles.
format	Article
author	Ali, Mohammed A. H. Musa, Mailah
author_facet	Ali, Mohammed A. H. Musa, Mailah
author_sort	Ali, Mohammed A. H.
title	Laser simulator: a novel search graph-based path planning approach
title_short	Laser simulator: a novel search graph-based path planning approach
title_full	Laser simulator: a novel search graph-based path planning approach
title_fullStr	Laser simulator: a novel search graph-based path planning approach
title_full_unstemmed	Laser simulator: a novel search graph-based path planning approach
title_sort	laser simulator: a novel search graph-based path planning approach
publisher	SAGE Publications Inc.
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/22581/ http://umpir.ump.edu.my/id/eprint/22581/ http://umpir.ump.edu.my/id/eprint/22581/ http://umpir.ump.edu.my/id/eprint/22581/1/Laser%20simulator-%20A%20novel%20search%20graph-based%20path%20planning%20approach.pdf
first_indexed	2023-09-18T22:33:42Z
last_indexed	2023-09-18T22:33:42Z
_version_	1777416454601179136

Laser simulator: a novel search graph-based path planning approach

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