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Register a new userPath Planning of Mobile Robot Using V-rep
تخطيط مسار روبوت متنقل باستخدام V-REP
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يشكل تخطيط المسار تحدياً كبيراً أمام إيجاد روبوتات متنقلة ذكية. و يعتبر إيجاد المسار المناسب الخالي من الاصطدامات، و بأقل زمن معالجة و طول مسار ممكن من القضايا البحثية الملّحة حالياً. و تعد طريقة شجرة البحث العشوائي السريعة RRTRapidly exploring random trees من أسرع الطرق التي تقوم بإيجاد مسار مناسب للروبوت كما أنها طريقة سهلة حسابياً و يمكن تطبيقها في بيئات متعددة الأبعاد. يستعرض هذا البحث خوارزمية RRT و يقدم تطبيقاً لتخطيط مسار حركة روبوت تفاضلي وفق هذه الخوارزمية في بيئتي عمل مختلفتين باستخدام محاكي الروبوتات V-rep. بيّن هذا البحث قدرة الخوارزمية على إيجاد مسار مناسب خلال زمن معالجة قصير نسبياً، كما أظهر قدرة المحاكي V-rep على نمذجة و محاكاة ثلاثية الأبعاد لحركة الروبوت المتنقل بكفاءة و سلاسة.
Robot navigation is challenging for building intelligence mobile robots. To find Proper possible path from starting point to target point, that reduces time and distance, avoiding collision with obstacles is a current potential research area. Rapidly exploring random trees (RRTs)is considered as one of the fastest methods to find solutions. Moreover, this algorithm is computationally efficient; therefore, it can be used in multidimensional environments. This paper reviews the RRT algorithm, and provides application of path planning to differential robot in two different workspaces using Virtual Robot Experimentation Platform) V-REP(simulator. This research clarifies the algorithm’s ability to find suitable path in relatively short time, and demonstrated the ability of V-rep to model and 3D simulate of mobile robot’s movement efficiently and smoothly.
References used
N. JETCHEV and M. TOUSSAINT, Fast Motion Planning from Experience: Trajectory Prediction for Speeding up Movement Generation, Berlin, Germany: Machine Learning and Robotics Lab, 2013
M. RANTANEN, Improving Probabilistic Roadmap Methods for Fast Motion Planning, TAMPERE: UNIVERSITY OF TAMPERE, 2014
R. H. ABIYEV, N. AKKAYA, E. AYTAC, I. Günsel and A. Çağman, Improved Path-Finding Algorithm for Robot Soccers, Lefkosa, North Cyprus: Journal of Automation and Control Engineering, 2015
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