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

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  • Imen Hassani
  • Imen Maalej
  • Chokri Rekik

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.

Suggested Citation

  • Imen Hassani & Imen Maalej & Chokri Rekik, 2018. "Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-13, June.
    • Handle: RePEc:hin:jnlmpe:2163278
    DOI: 10.1155/2018/2163278
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    Cited by:

    1. Ran Zhao & Lingnan Zhou, 2023. "Path planning and real time positioning algorithm of intelligent robot based on cloud computing," International Journal of System Assurance Engineering and Management, Springer;The Society for Reliability, Engineering Quality and Operations Management (SREQOM),India, and Division of Operation and Maintenance, Lulea University of Technology, Sweden, vol. 14(2), pages 493-508, April.

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