Path Planning of Mobile Robot Using V-rep


Abstract in English

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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