An Optimal and Energy Efficient Multi-Sensor Collision-Free Path Planning Algorithm for a Mobile Robot in Dynamic Environments
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Authors
Alajlan, Abrar M.
Elleithy, Khaled M.
Sobh, Tarek M.
Issue Date
2017-03-31
Type
Article
Language
en_US
Keywords
Motion planning , Collision avoidance , Safe navigation , Autonomous control , Mobile robot
Alternative Title
Abstract
There has been a remarkable growth in many different real-time systems in the area of autonomous mobile robots. This paper focuses on the collaboration of efficient multi-sensor systems to create new optimal motion planning for mobile robots. A proposed algorithm is used based on a new model to produce the shortest and most energy-efficient path from a given initial point to a goal point. The distance and time traveled, in addition to the consumed energy, have an asymptotic complexity of O(nlogn), where n is the number of obstacles. Real time experiments are performed to demonstrate the accuracy and energy efficiency of the proposed motion planning algorithm.
Description
Citation
Alajlan, A.; Elleithy, K.; Almasri, M.; Sobh, T. An Optimal and Energy Efficient Multi-Sensor Collision-Free Path Planning Algorithm for a Mobile Robot in Dynamic Environments. Robotics 2017, 6, 7.
Publisher
MDPI