Open AccessTwo Dimensional Path Planning with Static Polygon Obstacles Avoidance
Author(s) -
Duaa Ramadhan,
Abdulmuttalib T. Rashid,
Osama Rashid
Publication year - 2020
Publication title -
iraqi journal for electrical and electronic engineering/al-maǧallaẗ al-ʻirāqiyyaẗ al-handasaẗ al-kahrabāʼiyyaẗ wa-al-ilikttrūniyyaẗ
Language(s) - English
Resource type - Journals
eISSN - 2078-6069
pISSN - 1814-5892
DOI - 10.37917/ijeee.sceeer.3rd.10
Subject(s) - motion planning , any angle path planning , polygon (computer graphics) , computer science , mobile robot , visibility , path (computing) , collision avoidance , set (abstract data type) , robot , algorithm , fast path , shortest path problem , mathematical optimization , collision , artificial intelligence , mathematics , theoretical computer science , graph , computer network , geography , computer security , frame (networking) , meteorology , programming language
This paper presents the designing of path planning system in an environment contains a set of static polygon obstacles localized and distributed randomly by using differential drive mobile robot. In this paper the designed algorithm (two dimensional path planning algorithm) is proposed in order of investigate the path planning of mobile robot with free collision using the visibility binary tree algorithm. The suggested algorithm is compared with the virtual circles tangents algorithm in the time of arrival and the longest of the path to the target. The aim of this paper is to get an algorithm has better performance than the other algorithms and get less time of arrival and shortest path with free collision.