A Motion Planning System for Mobile Robots | Zendy

Adem Tuncer | Zendy; Mehmet Yıldırım | Zendy; Kadir Erkan | Zendy

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A Motion Planning System for Mobile Robots

Author(s) -

Adem Tuncer,

Mehmet Yıldırım,

Kadir Erkan

Publication year - 2012

Publication title -

advances in electrical and computer engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.254

H-Index - 23

eISSN - 1844-7600

pISSN - 1582-7445

DOI - 10.4316/aece.2012.01010

Subject(s) - motion planning , mobile robot , computer science , node (physics) , robot , path (computing) , motion (physics) , artificial intelligence , computer network , engineering , structural engineering

In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by means of camera and image processing. A graphical user interface (GUI) is designed for the motion planning system that allows the user to interact with the robot system and to observe the robot environment. All the software components of the system are written in MATLAB that provides to use non-predefined accessories rather than the robot firmware has, to avoid confusing in C++ libraries of robot's proprietary software, to control the robot in detail and not to re-compile the programs frequently in real-time dynamic operations

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