A generalized laser simulator algorithm for mobile robot path planning with obstacle avoidance

Muhammad, Aisha and Ali, Mohammed A.H. and Turaev, Sherzod and Abdulghafor, Rawad Abdulkhaleq Abdulmolla and Shanono, Ibrahim Haruna and Alzaid, Zaid and Alruban, Abdulrahman and Alabdan, Rana and Dutta, Ashit Kumar and Almotairi, Sultan (2022) A generalized laser simulator algorithm for mobile robot path planning with obstacle avoidance. Sensors, 22 (21). pp. 1-27.

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Abstract

This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the presence of static and dynamic obstacles. This algorithm enables a mobile robot to identify a feasible path while finding the target and avoiding obstacles while moving in complex regions. An optimal path between the start and target point is found by forming a wave of points in all directions towards the target position considering target minimum and border maximum distance principles. The algorithm will select the minimum path from the candidate points to target while avoiding obstacles. The obstacle borders are regarded as the environment’s borders for static obstacle avoidance. However, once dynamic obstacles appear in front of the GLS waves, the system detects them as new dynamic obstacle borders. Several experiments were carried out to validate the effectiveness and practicality of the GLS algorithm, including path-planning experiments in the presence of obstacles in a complex dynamic environment. The findings indicate that the robot could successfully find the correct path while avoiding obstacles. The proposed method is compared to other popular methods in terms of speed and path length in both real and simulated environments. According to the results, the GLS algorithm outperformed the original laser simulator (LS) method in path and success rate. With application of the all-direction border scan, it outperforms the A-star (A*) and PRM algorithms and provides safer and shorter paths. Furthermore, the path planning approach was validated for local planning in simulation and real-world tests, in which the proposed method produced the best path compared to the original LS algorithm.

Item Type:	Article (Review)
Uncontrolled Keywords:	path planning; wheeled mobile robot; generalized laser simulator; local path panning; global path planning; obstacle
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Information and Communication Technology > Department of Computer Science Kulliyyah of Information and Communication Technology > Department of Computer Science Kulliyyah of Information and Communication Technology Kulliyyah of Information and Communication Technology
Depositing User:	Dr. Rawad Abdulghafor
Date Deposited:	02 Dec 2022 16:03
Last Modified:	02 Dec 2022 16:27
URI:	http://irep.iium.edu.my/id/eprint/101583

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