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Research Article

Year : 2016 | Volume: 2 | Issue: 4 | Pages: 25-34

Virtual Obstacle Parameter Optimization for Mobile Robot Path Planning- A Case Study

Hussein Hamdy Shehata1*, Josef Schlattmann2

doi:10.18831/james.in/2016041004

Corresponding author

Hussein Hamdy Shehata*

Robotics and Mechatronics Department, Benha Faculty of Engineering, Benha University, 13512 Benha, Egypt.

  • 1. Robotics and Mechatronics Department, Benha Faculty of Engineering, Benha University, 13512 Benha, Egypt.

Received on: 07/02/2016

Revised on: 08/12/2016

Accepted on: 08/26/2016

Published on: 08/30/2016

  • Virtual Obstacle Parameter Optimization for Mobile Robot Path Planning- A Case Study, Hussein Hamdy Shehata, Josef Schlattmann., 08/30/2016, Journal of Advances in Mechanical Engineering and Science, 2(4), 25-34, http://dx.doi.org/10.18831/james.in/12016041004.

    Published on: 08/30/2016

Abstract

Path planning algorithms are widely used in the field of robotics. Potential field algorithm in particular is widely employed owing to its simple and elegant mathematical model as well as computational efficiency. The primary purpose of getting rid of obstacles and movement towards the goal is met out. However it is also has certain limitations. In order to get rid of these limitations, the field algorithm is used along with a virtual obstacle. In this paper genetic algorithm is used to optimize an important parameter. The proposal convergence is elaborated to emphasize its reliability. The simulation results proved that the results are feasible and valid.

Keywords

Path planning, Potential field, Genetic algorithm, Virtual obstacle, Robotics.