Open AccessOperativeCriticalPointBug algorithm-local path planning of mobile robot avoiding obstacles
Author(s) -
Subir K. Das,
Avishek Dutta,
Sudipta Debnath
Publication year - 2020
Publication title -
indonesian journal of electrical engineering and computer science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.241
H-Index - 17
eISSN - 2502-4760
pISSN - 2502-4752
DOI - 10.11591/ijeecs.v18.i3.pp1646-1656
Subject(s) - obstacle , mobile robot , robot , path (computing) , motion planning , computer science , dimension (graph theory) , mobile robot navigation , algorithm , obstacle avoidance , artificial intelligence , real time computing , computer vision , simulation , robot control , mathematics , geography , computer network , archaeology , pure mathematics
For Autonomous Mobile Robot one of the biggest and interesting issues is path planning. An autonomous mobile robot should be able determine its own path to reach destination. This paper offers a new algorithm for mobile robot to plan a path in local environments with stationary as well as moving obstacles. For movable robots’ path planning OperativeCriticalPointBug (OCPB) algorithm, is a new Bug algorithm. This algorithm is carried out by the robot throughout the movement from source to goal, hence allowing the robot to rectify its way if a new obstacle comes into the route or any existing obstacle changes its route. According as, not only the robot tries to avoid clash with other obstacle but also tries a series of run time adjustment in its way to produce roughly a best possible path. During journey the robot is believed to be capable to act in an unknown location by acquiring information perceived locally. Using this algorithm the robot can avoid obstacle by considering its own as well as the obstacle’s dimension. The obstacle may be static or dynamic. The algorithm belongs to bug family.