Рақамли технологияларнинг назарий ва амалий масалалари 7-tom 3-san (2024) · 84-91-betler
A trapezoid-based path planning algorithm for mobile robot research
Бурибаев, Аброр, Султанов, Джамшид, Жониев, Акмал
Annotaciya
Exploration of an unknown environment by a mobile robot during SLAM processes is a fundamental challenge. In this study, an extended iteration of the Rmap algorithm is presented by modifying its Exploration submodule. Although the previous Rmap algorithm effectively reduces the grid map overhead, its Exploration module is expensive due to the rectangle following algorithm. To overcome this limitation, a new algorithm for autonomous path planning of mobile robots in unknown environments is introduced. The new algorithm uses the concept of paired boundaries to facilitate efficient navigation and expand the exploration area of the robot. In each exploration round, the mobile robot uses the range of its sensors to detect boundaries. By periodically adjusting the sensor range, the algorithm generates pairs of interior boundaries. The length of each boundary and the corresponding pair is calculated, which allows the new algorithm to select the target point for robot navigation. The experimental results demonstrate the effectiveness and applicability of the new algorithm in terms of exploration time and distance. Compared with the previous algorithms, the new algorithm provides significant improvements. The path distance required to complete the entire exploration is reduced by 15% to 69%, and the time cost is reduced by 12% to 86%. These results highlight the effectiveness of the proposed algorithm in optimizing the exploration process of mobile robots in unknown environments.
алгоритмпланирование путимобильные роботыалгоритм Rmapalgorithmpath planningmobile robotsRmap algorithm
Metadata derekkózi: jurnal OAI-PMH arxivi · Sindex tolıq mátindi saqlamaydı, derekkózge silteme beredi.