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Novel Algorithm for Mobile Robot Path Planning in Constrained Environment

Computers, Materials & Continua 2022年第5期71卷 2697-2719页

作者： Aisha Muhammad Mohammed A.H.Ali Sherzod Turaev Ibrahim Haruna Shanono Fadhl Hujainah Mohd Nashrul Mohd Zubir Muhammad Khairi Faiz Erma Rahayu Mohd Faizal rawad abdulghafor Faculty of Manufacturing Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechanical Engineering Faculty of EngineeringUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science and Software Engineering College of Information TechnologyUnited Arab Emirates UniversityAl AinUnited Arab Emirates Faculty of Electrical and Electronics Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechatronics Engineering Faculty of TechnologyBayero UniversityKano(BUK)700241Nigeria Computer Science and Engineering Department Chalmers and University of Gothenburg41296GothenburgSweden Department of Artificial Intelligence Faculty of Computer Science and Information TechnologyUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science Faculty of Information and Communication TechnologyInternational Islamic University Malaysia53100Kuala LumpurMalaysia

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobilerobot path planning problem in a two-dimensional map with the presence ofconstraints. This approach gives the possibility to find the path for a wheelmobile robot considering some constraints during the robot movement inboth known and unknown environments. The feasible path is determinedbetween the start and goal positions by generating wave of points in alldirection towards the goal point with adhering to constraints. In simulation,the proposed method has been tested in several working environments withdifferent degrees of complexity. The results demonstrated that the proposedmethod is able to generate efficiently an optimal collision-free path. Moreover,the performance of the proposed method was compared with the A-star andlaser simulator (LS) algorithms in terms of path length, computational timeand path smoothness. The results revealed that the proposed method hasshortest path length, less computational time and the best smooth path. Asan average, GLS is faster than A∗ and LS by 7.8 and 5.5 times, respectivelyand presents a path shorter than A∗ and LS by 1.2 and 1.5 times. In orderto verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot(WMR) platform in labs and roads. The experimental work investigates acomplete autonomous WMR path planning in the lab and road environmentsusing a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of theanalogous-road in lab or real-road environments. The study shows that theproposed method is able to generate shortest path and best smooth trajectoryfrom start to goal points in comparison with laser simulator.

关键词： Path planning generalized laser simulator wheeled mobile robot global path panning local path planning

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